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diff --git a/fridge_m_0.7_pd/chunk_007/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_007/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..511cf8111a31011b3d9bea05bfdb9183b0fe412e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_007/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:470cd5e2ad203a6096902a14172e1200554c41ebfa40460a2b485741a471c6ec
+size 438375
diff --git a/fridge_m_0.7_pd/chunk_007/running_log.log b/fridge_m_0.7_pd/chunk_007/running_log.log
index 0934a86ea21c4f07ccacbaf7071917c106625042..54646b60ba84acc8e649bf20de56b99b5fc2b93c 100644
--- a/fridge_m_0.7_pd/chunk_007/running_log.log
+++ b/fridge_m_0.7_pd/chunk_007/running_log.log
@@ -3488,3 +3488,2822 @@
 05/12 06:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/12 06:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
 05/12 06:31:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:32:08 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:32:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:32:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:32:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:32:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:32:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:32:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:32:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:32:43 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]
+05/12 06:32:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:32:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:32:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:32:44 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.108[m] 1.100[deg]	[grasp_sample.py: 539]
+05/12 06:32:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:32:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:32:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:32:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:32:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:32:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.26s (batch: 4.10s, save: 11.16s)	[pipeline.py: 300]
+05/12 06:32:49 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
+  episode_total: mean=182.60s, total=182.60s, count=1, min=182599.6ms, max=182599.6ms
+  sensor_polling: mean=431.3ms, total=129.40s, count=300, min=383.7ms, max=906.9ms
+  save_trajectories: mean=11.16s, total=11.16s, count=1, min=11158.7ms, max=11158.7ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=17.6ms, max=51.3ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.9ms, max=4096.9ms
+  task_sampling: mean=504.8ms, total=504.8ms, count=1, min=504.8ms, max=504.8ms
+  task_specific_sample: mean=500.4ms, total=500.4ms, count=1, min=500.4ms, max=500.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=465.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.9us, 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]
+05/12 06:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:32:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:32:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:32:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:32:51 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]
+05/12 06:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:32:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044503m	[env.py: 870]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78250585  0.00998913  0.04450319] yaw=120.1deg	[env.py: 1019]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73652084 -0.01628314  0.04450319] yaw=127.3deg	[env.py: 1019]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00363476  0.81519159  0.04450319] yaw=-142.6deg	[env.py: 1019]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:32:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms	[env.py: 1075]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.010, 0.045)	[env.py: 1079]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 120.1 deg	[env.py: 1082]
+05/12 06:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:32:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:32:51 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:32:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:32:51 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]
+05/12 06:32:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:32:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:32:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:32:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.669[m] 90.420[deg]	[grasp_sample.py: 539]
+05/12 06:32:55 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:32:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:32:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:32:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:32:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:32:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:32:57 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]
+05/12 06:32:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:32:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094282m	[env.py: 870]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:32:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96406185  1.03540314  0.09428159] yaw=-110.5deg	[env.py: 1019]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74198931  0.50282635  0.09428159] yaw=-213.9deg	[env.py: 1019]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02533727  0.12825904  0.09428159] yaw=153.4deg	[env.py: 1019]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:32:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=332.0ms, total=332.1ms	[env.py: 1075]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 1.035, 0.094)	[env.py: 1079]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.5 deg	[env.py: 1082]
+05/12 06:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:32:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:32:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:32:58 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:32:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:32:58 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]
+05/12 06:32:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:32:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:32:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 104.234s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:32:59 INFO: [Worker 0] Feasible grasp found 220 (originally 105): w/ 0.192[m] 179.807[deg]	[grasp_sample.py: 539]
+05/12 06:33:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.310s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:33:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 105.712[deg]	[grasp_sample.py: 539]
+05/12 06:33:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:33:00 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:33:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:33:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:33:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:33:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:33:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:33:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:33:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:33:02 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]
+05/12 06:33:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:33:02 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]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036329m	[env.py: 870]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:33:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86539849  0.83970466  0.0363288 ] yaw=-168.1deg	[env.py: 1019]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8091135  0.1068089  0.0363288] yaw=120.9deg	[env.py: 1019]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:33:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=404.0ms, total=404.0ms	[env.py: 1075]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.865, 0.840, 0.036)	[env.py: 1079]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg	[env.py: 1082]
+05/12 06:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:33:03 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:33:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:33:03 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]
+05/12 06:33:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:33:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:33:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:33:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 95.645[deg]	[grasp_sample.py: 539]
+05/12 06:33:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:33:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:33:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:33:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:33:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:33:17 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]
+05/12 06:33:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:33:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:33:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:33:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.135[deg]	[grasp_sample.py: 539]
+05/12 06:33:19 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:33:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:33:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:33:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:33:20 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]
+05/12 06:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081622m	[env.py: 870]
+05/12 06:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78212188  0.80001699  0.08162209] yaw=-125.5deg	[env.py: 1019]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83830523  0.05376392  0.08162209] yaw=161.0deg	[env.py: 1019]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6450519   0.34580178  0.08162209] yaw=144.0deg	[env.py: 1019]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=301.1ms, total=301.1ms	[env.py: 1075]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.800, 0.082)	[env.py: 1079]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.5 deg	[env.py: 1082]
+05/12 06:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/12 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:33:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:33:21 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:33:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:33:21 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]
+05/12 06:33:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:33:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:33:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.324s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:33:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 85.153[deg]	[grasp_sample.py: 539]
+05/12 06:33:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:33:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:33:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:33:30 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:34:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:34:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:34:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:34:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:34:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:34:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:34:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:34:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:34:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:34:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.66s (batch: 4.75s, save: 11.91s)	[pipeline.py: 300]
+05/12 06:34:17 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.61s:
+  episode_total: mean=122.22s, total=488.90s, count=4, min=394.7ms, max=219998.0ms
+  sensor_polling: mean=456.4ms, total=354.21s, count=776, min=387.0ms, max=1010.4ms
+  physics_step: mean=26.7ms, total=20.74s, count=776, min=16.9ms, max=97.8ms
+  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11906.2ms, max=11906.2ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4752.2ms, max=4752.2ms
+  task_specific_sample: mean=494.7ms, total=1.98s, count=4, min=384.4ms, max=658.7ms
+  task_sampling: mean=535.1ms, total=1.61s, count=3, min=460.2ms, max=662.5ms
+  task_sampling_failed: mean=394.6ms, total=394.6ms, count=1, min=394.6ms, max=394.6ms
+  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=452.3us, total=1.8ms, count=4, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:34:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:34:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:34:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:34:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:34:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:34:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:34:19 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]
+05/12 06:34:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:34:19 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]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060348m	[env.py: 870]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:34:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93178589  0.7296095   0.06034815] yaw=-140.1deg	[env.py: 1019]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90120314  0.05149285  0.06034815] yaw=179.6deg	[env.py: 1019]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:34:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.6ms, total=230.7ms	[env.py: 1075]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.730, 0.060)	[env.py: 1079]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
+05/12 06:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:34:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:34:19 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:34:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:34:19 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]
+05/12 06:34:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:34:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:34:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:34:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 96.277[deg]	[grasp_sample.py: 539]
+05/12 06:34:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:34:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:34:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:34:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:34:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:34:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:35:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:35:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:35:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:35:29 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:35:33 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:35:50 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:35:55 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:35:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:35:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:36:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:36:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:36:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:36:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:36:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:36:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.96s (batch: 4.19s, save: 10.77s)	[pipeline.py: 300]
+05/12 06:36:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.17s:
+  episode_total: mean=99.31s, total=198.61s, count=2, min=4834.6ms, max=193777.7ms
+  sensor_polling: mean=458.9ms, total=137.67s, count=300, min=395.1ms, max=925.2ms
+  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10769.4ms, max=10769.4ms
+  physics_step: mean=27.0ms, total=8.11s, count=300, min=21.6ms, max=40.7ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4192.4ms, max=4192.4ms
+  task_sampling: mean=583.5ms, total=1.17s, count=2, min=539.8ms, max=627.2ms
+  task_specific_sample: mean=578.9ms, total=1.16s, count=2, min=535.9ms, max=621.9ms
+  scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=2.5ms, max=2.8ms
+  mj_forward_sync: mean=542.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:36:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:36:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:36:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:36:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:36:12 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]
+05/12 06:36:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:36:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025651m	[env.py: 870]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:36:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07039079  0.93636303  0.02565147] yaw=-163.4deg	[env.py: 1019]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.77426193  1.06174104  0.02565147] yaw=-129.4deg	[env.py: 1019]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:36:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=213.9ms	[env.py: 1075]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.936, 0.026)	[env.py: 1079]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg	[env.py: 1082]
+05/12 06:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:36:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:36:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:36:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:36:13 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]
+05/12 06:36:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:36:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:36:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:36:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 89.401[deg]	[grasp_sample.py: 539]
+05/12 06:36:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:36:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:36:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:36:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:36:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:36:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.26s (batch: 4.00s, save: 12.26s)	[pipeline.py: 300]
+05/12 06:36:17 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.35s:
+  episode_total: mean=187.15s, total=374.30s, count=2, min=179454.1ms, max=194848.5ms
+  sensor_polling: mean=455.1ms, total=190.22s, count=418, min=379.9ms, max=924.2ms
+  save_trajectories: mean=12.26s, total=12.26s, count=1, min=12260.0ms, max=12260.0ms
+  physics_step: mean=27.3ms, total=11.41s, count=418, min=20.9ms, max=43.5ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.3ms, max=4002.3ms
+  task_sampling: mean=676.1ms, total=1.35s, count=2, min=602.6ms, max=749.7ms
+  task_specific_sample: mean=671.9ms, total=1.34s, count=2, min=598.3ms, max=745.4ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.0ms, max=2.8ms
+  mj_forward_sync: mean=530.3us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=14.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:36:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:36:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:36:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:36:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:36:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:36:18 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]
+05/12 06:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048001m	[env.py: 870]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99170653  0.96164859  0.0480011 ] yaw=-163.5deg	[env.py: 1019]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89699484  0.94829245  0.0480011 ] yaw=-121.0deg	[env.py: 1019]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77899366  0.90526118  0.0480011 ] yaw=-143.7deg	[env.py: 1019]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.962, 0.048)	[env.py: 1079]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
+05/12 06:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:36:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:36:19 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:36:19 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]
+05/12 06:36:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:36:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:36:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:36:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 78.644[deg]	[grasp_sample.py: 539]
+05/12 06:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:36:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:36:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:36:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:36:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:36:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.21s (batch: 4.35s, save: 12.87s)	[pipeline.py: 300]
+05/12 06:36:35 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.07s:
+  episode_total: mean=153.10s, total=306.20s, count=2, min=111201.1ms, max=194999.9ms
+  sensor_polling: mean=455.2ms, total=225.33s, count=495, min=389.2ms, max=866.7ms
+  save_trajectories: mean=12.87s, total=12.87s, count=1, min=12867.9ms, max=12867.9ms
+  physics_step: mean=25.5ms, total=12.60s, count=495, min=21.4ms, max=42.8ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.9ms, max=4346.9ms
+  task_sampling: mean=534.8ms, total=1.07s, count=2, min=442.2ms, max=627.5ms
+  task_specific_sample: mean=530.2ms, total=1.06s, count=2, min=436.9ms, max=623.6ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.5ms, max=3.5ms
+  mj_forward_sync: mean=669.4us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:36:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:36:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:36:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:36:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:36:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:36:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:36:37 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]
+05/12 06:36:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:36:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055165m	[env.py: 870]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:36:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81306997  0.41411393  0.05516486] yaw=161.6deg	[env.py: 1019]
+05/12 06:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88060202  0.06818165  0.05516486] yaw=173.2deg	[env.py: 1019]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8031664   0.54616869  0.05516486] yaw=-166.4deg	[env.py: 1019]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:36:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=646.1ms, total=646.1ms	[env.py: 1075]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.414, 0.055)	[env.py: 1079]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg	[env.py: 1082]
+05/12 06:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/12 06:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:36:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:36:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:36:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:36:38 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]
+05/12 06:36:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:36:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:36:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:36:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 84.932[deg]	[grasp_sample.py: 539]
+05/12 06:36:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:36:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:36:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:36:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:36:47 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:36:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:36:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:37:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:37:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:37:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:37:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:37:15 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:37:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:37:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:37:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:37:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:37:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:37:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.47s (batch: 4.12s, save: 12.35s)	[pipeline.py: 300]
+05/12 06:37:32 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s:
+  episode_total: mean=193.22s, total=193.22s, count=1, min=193221.6ms, max=193221.6ms
+  sensor_polling: mean=451.5ms, total=135.46s, count=300, min=395.3ms, max=951.1ms
+  save_trajectories: mean=12.35s, total=12.35s, count=1, min=12345.7ms, max=12345.7ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=21.6ms, max=38.4ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4122.2ms, max=4122.2ms
+  task_sampling: mean=598.9ms, total=598.9ms, count=1, min=598.9ms, max=598.9ms
+  task_specific_sample: mean=594.6ms, total=594.6ms, count=1, min=594.6ms, max=594.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:37:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:37:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:37:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:37:33 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]
+05/12 06:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:37:33 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]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021116m	[env.py: 870]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86637229  0.46500664  0.02111595] yaw=207.4deg	[env.py: 1019]
+05/12 06:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:37:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75094361  0.05582879  0.02111595] yaw=185.2deg	[env.py: 1019]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11362533  0.98333976  0.02111595] yaw=-104.3deg	[env.py: 1019]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:37:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=318.5ms, total=318.6ms	[env.py: 1075]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.465, 0.021)	[env.py: 1079]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 207.4 deg	[env.py: 1082]
+05/12 06:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/12 06:37:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:37:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:37:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:37:34 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:37:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:37:34 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]
+05/12 06:37:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:37:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:37:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.837s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:37:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 85.063[deg]	[grasp_sample.py: 539]
+05/12 06:37:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:37:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:37:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:37:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:37:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:38:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:38:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:38:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:38:48 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:38:48 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:39:15 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:39:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:39:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:39:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:39:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:39:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:39:17 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:39:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:39:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:39:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.77s (batch: 4.37s, save: 11.40s)	[pipeline.py: 300]
+05/12 06:39:31 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
+  episode_total: mean=198.97s, total=198.97s, count=1, min=198969.6ms, max=198969.6ms
+  sensor_polling: mean=454.1ms, total=136.22s, count=300, min=399.4ms, max=960.3ms
+  save_trajectories: mean=11.40s, total=11.40s, count=1, min=11403.0ms, max=11403.0ms
+  physics_step: mean=26.5ms, total=7.95s, count=300, min=17.2ms, max=64.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4368.1ms, max=4368.1ms
+  task_sampling: mean=524.2ms, total=524.2ms, count=1, min=524.2ms, max=524.2ms
+  task_specific_sample: mean=520.0ms, total=520.0ms, count=1, min=520.0ms, max=520.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:39:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:39:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:39:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.80s (batch: 3.69s, save: 12.11s)	[pipeline.py: 300]
+05/12 06:39:32 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s:
+  episode_total: mean=193.51s, total=193.51s, count=1, min=193506.7ms, max=193506.7ms
+  sensor_polling: mean=449.9ms, total=134.98s, count=300, min=381.6ms, max=984.5ms
+  save_trajectories: mean=12.11s, total=12.11s, count=1, min=12110.0ms, max=12110.0ms
+  physics_step: mean=28.6ms, total=8.58s, count=300, min=21.8ms, max=61.2ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3692.0ms, max=3692.0ms
+  task_sampling: mean=424.8ms, total=424.8ms, count=1, min=424.8ms, max=424.8ms
+  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:39:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:39:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:39:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:39:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:39:33 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]
+05/12 06:39:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:39:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019789m	[env.py: 870]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:39:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92884848  0.84388406  0.01978907] yaw=-173.1deg	[env.py: 1019]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80635753  1.03789075  0.01978907] yaw=-150.4deg	[env.py: 1019]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83791131  0.81275804  0.01978907] yaw=-155.4deg	[env.py: 1019]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:39:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.6ms, total=171.7ms	[env.py: 1075]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.844, 0.020)	[env.py: 1079]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg	[env.py: 1082]
+05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:39:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:39:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:39:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:39:33 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]
+05/12 06:39:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:39:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:39:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:39:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:39:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:39:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:39:34 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]
+05/12 06:39:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:39:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073443m	[env.py: 870]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:39:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75675985  0.60362843  0.07344347] yaw=-174.0deg	[env.py: 1019]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86724317  0.63401606  0.07344347] yaw=-167.9deg	[env.py: 1019]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89943349  0.5138061   0.07344347] yaw=-213.5deg	[env.py: 1019]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:39:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.6ms, total=168.6ms	[env.py: 1075]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.604, 0.073)	[env.py: 1079]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
+05/12 06:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:39:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:39:34 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:39:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:39:34 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]
+05/12 06:39:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:39:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:39:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:39:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.475[m] 94.210[deg]	[grasp_sample.py: 539]
+05/12 06:39:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:39:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:39:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:39:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:39:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 91.168[deg]	[grasp_sample.py: 539]
+05/12 06:39:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:39:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:39:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:39:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:39:45 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:39:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:39:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:40:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:40:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:40:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.68s (batch: 4.76s, save: 12.92s)	[pipeline.py: 300]
+05/12 06:40:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.98s:
+  episode_total: mean=206.79s, total=206.79s, count=1, min=206791.6ms, max=206791.6ms
+  sensor_polling: mean=469.8ms, total=140.93s, count=300, min=404.7ms, max=906.1ms
+  save_trajectories: mean=12.92s, total=12.92s, count=1, min=12920.5ms, max=12920.5ms
+  physics_step: mean=29.4ms, total=8.83s, count=300, min=21.5ms, max=38.6ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4761.1ms, max=4761.1ms
+  task_sampling: mean=977.3ms, total=977.3ms, count=1, min=977.3ms, max=977.3ms
+  task_specific_sample: mean=972.6ms, total=972.6ms, count=1, min=972.6ms, max=972.6ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=479.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/12 06:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:40:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:40:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:40:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:40:05 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]
+05/12 06:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:40:05 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]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091188m	[env.py: 870]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80925489  0.55032303  0.09118812] yaw=-183.4deg	[env.py: 1019]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09825056  1.13077462  0.09118812] yaw=-149.0deg	[env.py: 1019]
+05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03920751  1.26378068  0.09118812] yaw=-93.0deg	[env.py: 1019]
+05/12 06:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=134.3ms, total=134.4ms	[env.py: 1075]
+05/12 06:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.550, 0.091)	[env.py: 1079]
+05/12 06:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.4 deg	[env.py: 1082]
+05/12 06:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/12 06:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:40:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:40:06 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:40:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:40:06 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]
+05/12 06:40:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:40:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:40:07 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:40:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:40:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.441[m] 79.407[deg]	[grasp_sample.py: 539]
+05/12 06:40:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:40:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:40:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:40:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:40:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:40:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:40:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:40:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:40:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:40:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:40:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:40:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:40:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:40:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.12s (batch: 4.19s, save: 12.93s)	[pipeline.py: 300]
+05/12 06:40:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.62s:
+  episode_total: mean=199.17s, total=199.17s, count=1, min=199174.7ms, max=199174.7ms
+  sensor_polling: mean=468.4ms, total=140.51s, count=300, min=395.5ms, max=969.1ms
+  save_trajectories: mean=12.93s, total=12.93s, count=1, min=12929.6ms, max=12929.6ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=17.0ms, max=53.9ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.5ms, max=4190.5ms
+  task_sampling: mean=620.0ms, total=620.0ms, count=1, min=620.0ms, max=620.0ms
+  task_specific_sample: mean=615.4ms, total=615.4ms, count=1, min=615.4ms, max=615.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=612.0us, 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]
+05/12 06:40:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:40:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:40:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:40:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:40:54 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]
+05/12 06:40:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:40:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082188m	[env.py: 870]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:40:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91178937  1.19345623  0.08218775] yaw=-171.4deg	[env.py: 1019]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86794753  0.42465894  0.08218775] yaw=170.7deg	[env.py: 1019]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:40:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=528.4ms, total=528.5ms	[env.py: 1075]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 1.193, 0.082)	[env.py: 1079]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg	[env.py: 1082]
+05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:40:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:40:55 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:40:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:40:55 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]
+05/12 06:40:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:40:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:40:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.852s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 06:40:58 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 06:40:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:40:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:40:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:40:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:40:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:40:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:40:59 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]
+05/12 06:40:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:40:59 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]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008240m	[env.py: 870]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:40:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67875062  0.17546542  0.00823982] yaw=159.8deg	[env.py: 1019]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67569718  0.79171239  0.00823982] yaw=-151.8deg	[env.py: 1019]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.10956611  0.94379112  0.00823982] yaw=-136.7deg	[env.py: 1019]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:41:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.9ms, total=192.9ms	[env.py: 1075]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.175, 0.008)	[env.py: 1079]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg	[env.py: 1082]
+05/12 06:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/12 06:41:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:41:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:41:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:41:00 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:41:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:41:00 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]
+05/12 06:41:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:41:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:41:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:41:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.933s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:41:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.650[m] 93.019[deg]	[grasp_sample.py: 539]
+05/12 06:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:41:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:41:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:41:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:41:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:42:02 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:42:05 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:42:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:42:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:42:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:42:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:42:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:42:32 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:42:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:42:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:42:44 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:42:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:42:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:42:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.95s (batch: 3.89s, save: 11.06s)	[pipeline.py: 300]
+05/12 06:42:46 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
+  episode_total: mean=192.00s, total=192.00s, count=1, min=192000.1ms, max=192000.1ms
+  sensor_polling: mean=443.8ms, total=133.14s, count=300, min=380.9ms, max=966.2ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11064.0ms, max=11064.0ms
+  physics_step: mean=27.9ms, total=8.37s, count=300, min=16.9ms, max=40.1ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3887.8ms, max=3887.8ms
+  task_sampling: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
+  task_specific_sample: mean=515.5ms, total=515.5ms, count=1, min=515.5ms, max=515.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=479.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, 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]
+05/12 06:42:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:42:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:42:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:42:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:42:47 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]
+05/12 06:42:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:42:47 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]
+05/12 06:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020591m	[env.py: 870]
+05/12 06:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:42:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95112215  1.09052345  0.02059144] yaw=-121.1deg	[env.py: 1019]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71147392  0.51377159  0.02059144] yaw=-168.0deg	[env.py: 1019]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:42:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03443439  1.25600563  0.02059144] yaw=-95.4deg	[env.py: 1019]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:42:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms	[env.py: 1075]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.091, 0.021)	[env.py: 1079]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.1 deg	[env.py: 1082]
+05/12 06:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/12 06:42:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:42:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.78s (batch: 3.95s, save: 11.83s)	[pipeline.py: 300]
+05/12 06:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:42:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:42:48 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:42:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:42:48 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]
+05/12 06:42:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:42:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:42:48 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.53s:
+  episode_total: mean=195.62s, total=195.62s, count=1, min=195622.0ms, max=195622.0ms
+  sensor_polling: mean=463.8ms, total=139.15s, count=300, min=399.4ms, max=943.9ms
+  save_trajectories: mean=11.83s, total=11.83s, count=1, min=11827.4ms, max=11827.4ms
+  physics_step: mean=28.9ms, total=8.66s, count=300, min=16.9ms, max=60.2ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.0ms, max=3950.0ms
+  task_sampling: mean=534.5ms, total=534.5ms, count=1, min=534.5ms, max=534.5ms
+  task_specific_sample: mean=528.4ms, total=528.4ms, count=1, min=528.4ms, max=528.4ms
+  scene_randomize: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  mj_forward_sync: mean=825.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  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]
+05/12 06:42:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:42:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:42:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:42:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:42:50 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]
+05/12 06:42:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:42:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088982m	[env.py: 870]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:42:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89798008  0.23766219  0.08898207] yaw=195.9deg	[env.py: 1019]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81742329  0.05870499  0.08898207] yaw=127.0deg	[env.py: 1019]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85531243  1.05445357  0.08898207] yaw=-179.7deg	[env.py: 1019]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:42:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=345.6ms, total=345.7ms	[env.py: 1075]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.238, 0.089)	[env.py: 1079]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 195.9 deg	[env.py: 1082]
+05/12 06:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:42:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:42:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:42:51 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:42:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:42:51 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]
+05/12 06:42:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:42:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:42:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:42:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 78.190[deg]	[grasp_sample.py: 539]
+05/12 06:42:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:42:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:42:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:42:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:42:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.408s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:42:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.594[m] 93.214[deg]	[grasp_sample.py: 539]
+05/12 06:42:54 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:42:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:42:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:42:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:42:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:42:56 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]
+05/12 06:42:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:42:56 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]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070377m	[env.py: 870]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:42:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84590894  0.55615544  0.07037699] yaw=-176.9deg	[env.py: 1019]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64393037  0.48902195  0.07037699] yaw=-161.0deg	[env.py: 1019]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91084012  0.8658098   0.07037699] yaw=-124.2deg	[env.py: 1019]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:42:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.5ms, total=323.6ms	[env.py: 1075]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.556, 0.070)	[env.py: 1079]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
+05/12 06:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:42:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:42:56 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:42:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:42:56 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]
+05/12 06:42:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:42:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:42:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:42:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.408[m] 87.696[deg]	[grasp_sample.py: 539]
+05/12 06:42:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:42:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:42:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:42:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:13 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:43:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:43:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:43:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:43:16 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]
+05/12 06:43:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:43:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:43:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:43:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.366[deg]	[grasp_sample.py: 539]
+05/12 06:43:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:43:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:43:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:43:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:43:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.69s (batch: 4.21s, save: 13.48s)	[pipeline.py: 300]
+05/12 06:43:32 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.48s:
+  episode_total: mean=206.17s, total=206.17s, count=1, min=206169.1ms, max=206169.1ms
+  sensor_polling: mean=473.0ms, total=141.90s, count=300, min=397.7ms, max=895.8ms
+  save_trajectories: mean=13.48s, total=13.48s, count=1, min=13482.1ms, max=13482.1ms
+  physics_step: mean=29.0ms, total=8.69s, count=300, min=21.6ms, max=88.5ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.6ms, max=4211.6ms
+  task_sampling: mean=481.9ms, total=481.9ms, count=1, min=481.9ms, max=481.9ms
+  task_specific_sample: mean=476.4ms, total=476.4ms, count=1, min=476.4ms, max=476.4ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=733.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:43:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:43:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:43:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:43:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:43:33 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]
+05/12 06:43:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:43:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040859m	[env.py: 870]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:43:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9237855   0.29078056  0.04085932] yaw=163.3deg	[env.py: 1019]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93402166  0.62848019  0.04085932] yaw=-169.1deg	[env.py: 1019]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88288393  0.83936288  0.04085932] yaw=-126.1deg	[env.py: 1019]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:43:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.2ms, total=171.2ms	[env.py: 1075]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.291, 0.041)	[env.py: 1079]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.3 deg	[env.py: 1082]
+05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:43:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:43:33 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:43:34 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]
+05/12 06:43:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:43:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:43:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:43:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.318[m] 85.134[deg]	[grasp_sample.py: 539]
+05/12 06:43:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:43:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:43:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:43:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:43:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:43:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:43:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:43:59 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]
+05/12 06:43:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:43:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:44:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:44:01 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.825[deg]	[grasp_sample.py: 539]
+05/12 06:44:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:44:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:44:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:44:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:44:04 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 06:44:04 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.35s:
+  episode_total: mean=94.52s, total=189.03s, count=2, min=3949.7ms, max=185084.9ms
+  sensor_polling: mean=464.8ms, total=139.45s, count=300, min=399.7ms, max=921.2ms
+  physics_step: mean=27.0ms, total=8.09s, count=300, min=18.4ms, max=43.1ms
+  task_sampling: mean=672.8ms, total=1.35s, count=2, min=463.6ms, max=882.0ms
+  task_specific_sample: mean=668.6ms, total=1.34s, count=2, min=460.0ms, max=877.3ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=602.5us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:44:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:44:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:44:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:44:06 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]
+05/12 06:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:44:06 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]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069300m	[env.py: 870]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91996423  0.61289263  0.0693    ] yaw=-185.9deg	[env.py: 1019]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97136557  0.85777084  0.0693    ] yaw=-160.7deg	[env.py: 1019]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91409641  0.24746382  0.0693    ] yaw=151.1deg	[env.py: 1019]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.3ms, total=183.3ms	[env.py: 1075]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.613, 0.069)	[env.py: 1079]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.9 deg	[env.py: 1082]
+05/12 06:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:44:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:44:06 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:44:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:44:06 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]
+05/12 06:44:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:44:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:44:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.404[m] 91.836[deg]	[grasp_sample.py: 539]
+05/12 06:44:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:44:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:44:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:44:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:44:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:44:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:44:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:44:50 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]
+05/12 06:44:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:44:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:44:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:44:51 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.396[deg]	[grasp_sample.py: 539]
+05/12 06:44:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:44:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:44:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:44:53 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]
+05/12 06:44:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:44:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:44:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:44:54 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.414[deg]	[grasp_sample.py: 539]
+05/12 06:44:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:44:55 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:44:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:44:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:44:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:44:57 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]
+05/12 06:44:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:44:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061607m	[env.py: 870]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:44:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12532333  1.20623105  0.06160692] yaw=-145.8deg	[env.py: 1019]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75740529  0.26869596  0.06160692] yaw=147.4deg	[env.py: 1019]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99490339  0.87090739  0.06160692] yaw=-167.2deg	[env.py: 1019]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.8ms, total=141.9ms	[env.py: 1075]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.125, 1.206, 0.062)	[env.py: 1079]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
+05/12 06:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:44:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:44:57 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:44:57 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]
+05/12 06:44:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:44:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.872s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:45:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 80.150[deg]	[grasp_sample.py: 539]
+05/12 06:45:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:45:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:45:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:45:04 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]
+05/12 06:45:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:45:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:45:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:45:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.443[deg]	[grasp_sample.py: 539]
+05/12 06:45:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:45:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:45:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:45:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:45:20 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]
+05/12 06:45:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:45:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:45:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.401[deg]	[grasp_sample.py: 539]
+05/12 06:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:25 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:45:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:45:37 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]
+05/12 06:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:45:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:45:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.401[deg]	[grasp_sample.py: 539]
+05/12 06:45:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:45:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:45:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:45:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:45:53 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/12 06:45:54 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 06:45:54 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.53s:
+  episode_total: mean=140.71s, total=140.71s, count=1, min=140707.7ms, max=140707.7ms
+  sensor_polling: mean=437.7ms, total=85.34s, count=195, min=400.2ms, max=906.1ms
+  physics_step: mean=23.5ms, total=4.59s, count=195, min=14.4ms, max=59.8ms
+  task_sampling: mean=527.9ms, total=527.9ms, count=1, min=527.9ms, max=527.9ms
+  task_specific_sample: mean=523.9ms, total=523.9ms, count=1, min=523.9ms, max=523.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=463.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:45:55 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:45:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:45:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:45:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:45:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:45:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:45:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:45:55 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]
+05/12 06:45:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:45:55 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]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052680m	[env.py: 870]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:45:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73622185  0.08338325  0.05268017] yaw=136.3deg	[env.py: 1019]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08899184  1.18309904  0.05268017] yaw=-122.1deg	[env.py: 1019]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17740229  1.08488286  0.05268017] yaw=-149.4deg	[env.py: 1019]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:45:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.2ms, total=83.3ms	[env.py: 1075]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.083, 0.053)	[env.py: 1079]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.3 deg	[env.py: 1082]
+05/12 06:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:45:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:45:56 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:45:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:45:56 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]
+05/12 06:45:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:45:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:45:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.732s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:45:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.681[m] 100.908[deg]	[grasp_sample.py: 539]
+05/12 06:45:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:45:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:45:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:46:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:46:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:46:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:46:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:46:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:46:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.21s (batch: 4.68s, save: 11.53s)	[pipeline.py: 300]
+05/12 06:46:12 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.15s:
+  episode_total: mean=101.16s, total=202.31s, count=2, min=6526.2ms, max=195784.1ms
+  sensor_polling: mean=423.8ms, total=127.14s, count=300, min=377.6ms, max=1012.5ms
+  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11531.1ms, max=11531.1ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=16.1ms, max=33.8ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4682.4ms, max=4682.4ms
+  task_sampling: mean=574.1ms, total=1.15s, count=2, min=540.0ms, max=608.2ms
+  task_specific_sample: mean=569.4ms, total=1.14s, count=2, min=535.8ms, max=603.0ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.1ms, max=2.8ms
+  mj_forward_sync: mean=514.0us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:46:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:46:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:46:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:46:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:46:13 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]
+05/12 06:46:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:46:13 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]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027362m	[env.py: 870]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:46:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81623889  0.84135487  0.02736245] yaw=-132.4deg	[env.py: 1019]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.967614    1.10007874  0.02736245] yaw=-153.7deg	[env.py: 1019]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69481744  0.12496266  0.02736245] yaw=198.1deg	[env.py: 1019]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.4ms, total=134.4ms	[env.py: 1075]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.841, 0.027)	[env.py: 1079]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg	[env.py: 1082]
+05/12 06:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:46:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:46:13 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:46:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:46:14 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]
+05/12 06:46:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:46:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:46:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:46:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 92.341[deg]	[grasp_sample.py: 539]
+05/12 06:46:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:46:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:46:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:46:37 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:47:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:47:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:47:00 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]
+05/12 06:47:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:47:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:47:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:47:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.408[deg]	[grasp_sample.py: 539]
+05/12 06:47:04 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:47:06 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:47:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:47:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:47:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:47:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:47:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:47:06 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]
+05/12 06:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022304m	[env.py: 870]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7802903   0.6271457   0.02230402] yaw=-158.4deg	[env.py: 1019]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13459811  1.00594068  0.02230402] yaw=-170.9deg	[env.py: 1019]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88367072  0.75668776  0.02230402] yaw=-186.8deg	[env.py: 1019]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms	[env.py: 1075]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.627, 0.022)	[env.py: 1079]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
+05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:47:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:47:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:47:07 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]
+05/12 06:47:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:47:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:47:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:47:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 73.603[deg]	[grasp_sample.py: 539]
+05/12 06:47:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:47:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:47:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:47:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:47:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:47:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:47:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:47:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:47:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:47:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:47:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.15s (batch: 4.55s, save: 11.59s)	[pipeline.py: 300]
+05/12 06:47:23 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.54s:
+  episode_total: mean=196.85s, total=196.85s, count=1, min=196851.7ms, max=196851.7ms
+  sensor_polling: mean=456.1ms, total=136.82s, count=300, min=394.4ms, max=949.5ms
+  save_trajectories: mean=11.59s, total=11.59s, count=1, min=11594.2ms, max=11594.2ms
+  physics_step: mean=26.6ms, total=7.97s, count=300, min=18.3ms, max=39.6ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.6ms, max=4553.6ms
+  task_sampling: mean=539.3ms, total=539.3ms, count=1, min=539.3ms, max=539.3ms
+  task_specific_sample: mean=536.4ms, total=536.4ms, count=1, min=536.4ms, max=536.4ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.7us, 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]
+05/12 06:47:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:47:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:47:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:47:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:47:24 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]
+05/12 06:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:47:24 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]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006879m	[env.py: 870]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83987991  1.06031082  0.00687876] yaw=-145.9deg	[env.py: 1019]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99124259  1.19877973  0.00687876] yaw=-134.2deg	[env.py: 1019]
+05/12 06:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96118069  1.05560741  0.00687876] yaw=-124.9deg	[env.py: 1019]
+05/12 06:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:47:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=195.6ms, total=195.7ms	[env.py: 1075]
+05/12 06:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 1.060, 0.007)	[env.py: 1079]
+05/12 06:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/12 06:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/12 06:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:47:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:47:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:47:25 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:47:25 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]
+05/12 06:47:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:47:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:47:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.228s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:47:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.640[m] 91.818[deg]	[grasp_sample.py: 539]
+05/12 06:47:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:47:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:47:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:47:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:47:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:48:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:48:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:48:32 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]
+05/12 06:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:48:33 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.751s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:48:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.243[deg]	[grasp_sample.py: 539]
+05/12 06:48:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:48:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:48:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:48:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:48:39 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:48:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:48:41 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:48:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:49:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:49:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:49:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:49:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:49:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:49:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:49:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:49:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.31s (batch: 4.31s, save: 11.00s)	[pipeline.py: 300]
+05/12 06:49:24 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.35s:
+  episode_total: mean=209.12s, total=209.12s, count=1, min=209120.2ms, max=209120.2ms
+  sensor_polling: mean=465.6ms, total=139.69s, count=300, min=401.8ms, max=982.6ms
+  save_trajectories: mean=11.00s, total=11.00s, count=1, min=11003.2ms, max=11003.2ms
+  physics_step: mean=27.2ms, total=8.17s, count=300, min=19.8ms, max=34.5ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.8ms, max=4310.8ms
+  task_sampling: mean=353.5ms, total=353.5ms, count=1, min=353.5ms, max=353.5ms
+  task_specific_sample: mean=350.2ms, total=350.2ms, count=1, min=350.2ms, max=350.2ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=459.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:49:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:49:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:49:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:49:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:49:26 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]
+05/12 06:49:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:49:26 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]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076909m	[env.py: 870]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:49:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82540907  0.97946287  0.07690943] yaw=-118.6deg	[env.py: 1019]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63624222  0.72087335  0.07690943] yaw=-130.8deg	[env.py: 1019]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80998418  1.04741447  0.07690943] yaw=-181.0deg	[env.py: 1019]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:49:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.9ms, total=149.9ms	[env.py: 1075]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.979, 0.077)	[env.py: 1079]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.6 deg	[env.py: 1082]
+05/12 06:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:49:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:49:26 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:49:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:49:26 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]
+05/12 06:49:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:49:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:49:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:49:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:49:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.83s (batch: 4.43s, save: 13.39s)	[pipeline.py: 300]
+05/12 06:49:28 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s:
+  episode_total: mean=194.75s, total=194.75s, count=1, min=194746.4ms, max=194746.4ms
+  sensor_polling: mean=441.6ms, total=132.49s, count=300, min=373.9ms, max=950.7ms
+  save_trajectories: mean=13.39s, total=13.39s, count=1, min=13394.8ms, max=13394.8ms
+  physics_step: mean=27.6ms, total=8.29s, count=300, min=21.8ms, max=43.0ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4432.8ms, max=4432.8ms
+  task_sampling: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms
+  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=466.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:49:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:49:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:49:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:49:29 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]
+05/12 06:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019643m	[env.py: 870]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.0ms, total=203.0ms	[env.py: 1105]
+05/12 06:49:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 06:49:29 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 06:49:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.101s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:49:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 97.129[deg]	[grasp_sample.py: 539]
+05/12 06:49:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:49:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:49:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:49:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:49:31 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]
+05/12 06:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:49:31 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]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070063m	[env.py: 870]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83851287  0.44104212  0.07006292] yaw=200.5deg	[env.py: 1019]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80130947  0.95109796  0.07006292] yaw=-182.6deg	[env.py: 1019]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02643051  1.03414078  0.07006292] yaw=-135.9deg	[env.py: 1019]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:49:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=193.9ms	[env.py: 1075]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.441, 0.070)	[env.py: 1079]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 200.5 deg	[env.py: 1082]
+05/12 06:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:49:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:49:31 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:49:32 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]
+05/12 06:49:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:49:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:49:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:49:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.477[m] 83.792[deg]	[grasp_sample.py: 539]
+05/12 06:49:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:49:33 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:49:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:49:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:49:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:49:53 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:50:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:50:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:50:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:50:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:50:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:50:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:50:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.20s (batch: 5.21s, save: 10.99s)	[pipeline.py: 300]
+05/12 06:50:18 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.60s:
+  episode_total: mean=148.39s, total=445.17s, count=3, min=125266.6ms, max=192314.4ms
+  sensor_polling: mean=448.8ms, total=337.96s, count=753, min=387.1ms, max=961.4ms
+  physics_step: mean=26.3ms, total=19.78s, count=753, min=16.9ms, max=73.3ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10986.1ms, max=10986.1ms
+  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5214.7ms, max=5214.7ms
+  task_sampling: mean=533.9ms, total=1.60s, count=3, min=448.8ms, max=656.4ms
+  task_specific_sample: mean=528.5ms, total=1.59s, count=3, min=445.2ms, max=651.7ms
+  scene_randomize: mean=2.3ms, total=6.9ms, count=3, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=506.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.8us, 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]
+05/12 06:50:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:50:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:50:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:50:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:50:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:50:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:50:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:50:20 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]
+05/12 06:50:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:50:20 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]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052102m	[env.py: 870]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:50:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97813812  0.16632362  0.05210197] yaw=122.8deg	[env.py: 1019]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20987159  1.06538126  0.05210197] yaw=-117.8deg	[env.py: 1019]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72410378  0.21078968  0.05210197] yaw=173.8deg	[env.py: 1019]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:50:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.9ms	[env.py: 1075]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.166, 0.052)	[env.py: 1079]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 122.8 deg	[env.py: 1082]
+05/12 06:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:50:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:50:21 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:50:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:50:21 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]
+05/12 06:50:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:50:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:50:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.957s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:50:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.449[m] 96.777[deg]	[grasp_sample.py: 539]
+05/12 06:50:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:50:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:50:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:50:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:50:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:50:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:50:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:50:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:50:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:50:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.40s (batch: 4.58s, save: 12.83s)	[pipeline.py: 300]
+05/12 06:50:37 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.54s:
+  episode_total: mean=193.15s, total=193.15s, count=1, min=193151.6ms, max=193151.6ms
+  sensor_polling: mean=448.2ms, total=134.46s, count=300, min=384.4ms, max=1003.4ms
+  save_trajectories: mean=12.83s, total=12.83s, count=1, min=12825.9ms, max=12825.9ms
+  physics_step: mean=26.5ms, total=7.95s, count=300, min=21.4ms, max=39.6ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4576.5ms, max=4576.5ms
+  task_sampling: mean=535.0ms, total=535.0ms, count=1, min=535.0ms, max=535.0ms
+  task_specific_sample: mean=529.8ms, total=529.8ms, count=1, min=529.8ms, max=529.8ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=710.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:50:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:50:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:50:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:50:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:50:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:50:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:50:39 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]
+05/12 06:50:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:50:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096510m	[env.py: 870]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:50:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98375805  1.01770338  0.09650968] yaw=-114.7deg	[env.py: 1019]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03327922  1.00752484  0.09650968] yaw=-157.7deg	[env.py: 1019]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63587346  0.3593725   0.09650968] yaw=196.7deg	[env.py: 1019]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:50:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=676.8ms, total=676.9ms	[env.py: 1075]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 1.018, 0.097)	[env.py: 1079]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.7 deg	[env.py: 1082]
+05/12 06:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/12 06:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:50:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:50:40 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:50:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:50:40 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]
+05/12 06:50:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:50:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:50:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.748s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:50:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 99.263[deg]	[grasp_sample.py: 539]
+05/12 06:50:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:50:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:50:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:50:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:50:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:50:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:51:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:51:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:51:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:51:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:51:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:51:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:52:02 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:52:04 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:52:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:52:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:52:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:52:25 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]
+05/12 06:52:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:52:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:52:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:52:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.530[deg]	[grasp_sample.py: 539]
+05/12 06:52:27 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:52:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:52:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:52:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:52:29 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]
+05/12 06:52:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:52:29 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]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078187m	[env.py: 870]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:52:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85064121  0.04765341  0.07818692] yaw=155.6deg	[env.py: 1019]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97998945  0.85082605  0.07818692] yaw=-153.7deg	[env.py: 1019]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93431644  0.54327771  0.07818692] yaw=-193.4deg	[env.py: 1019]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:52:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.7ms, total=101.8ms	[env.py: 1075]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.048, 0.078)	[env.py: 1079]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.6 deg	[env.py: 1082]
+05/12 06:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:52:29 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:52:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:52:29 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]
+05/12 06:52:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:52:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:52:31 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:52:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:52:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:52:32 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:52:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:52:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:52:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:52:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.534[m] 94.548[deg]	[grasp_sample.py: 539]
+05/12 06:52:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:52:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:52:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:52:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:52:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:52:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:52:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.27s (batch: 4.30s, save: 10.97s)	[pipeline.py: 300]
+05/12 06:52:47 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.44s:
+  episode_total: mean=200.95s, total=200.95s, count=1, min=200953.4ms, max=200953.4ms
+  sensor_polling: mean=469.5ms, total=140.84s, count=300, min=394.4ms, max=896.8ms
+  save_trajectories: mean=10.97s, total=10.97s, count=1, min=10972.7ms, max=10972.7ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.0ms, max=37.0ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4295.4ms, max=4295.4ms
+  task_sampling: mean=438.5ms, total=438.5ms, count=1, min=438.5ms, max=438.5ms
+  task_specific_sample: mean=434.2ms, total=434.2ms, count=1, min=434.2ms, max=434.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=466.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:52:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:52:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:52:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.54s (batch: 3.91s, save: 11.63s)	[pipeline.py: 300]
+05/12 06:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:52:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:52:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:52:48 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]
+05/12 06:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:52:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030209m	[env.py: 870]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:52:48 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
+  episode_total: mean=98.73s, total=197.47s, count=2, min=216.2ms, max=197253.7ms
+  sensor_polling: mean=460.8ms, total=138.25s, count=300, min=390.2ms, max=955.7ms
+  save_trajectories: mean=11.63s, total=11.63s, count=1, min=11634.9ms, max=11634.9ms
+  physics_step: mean=27.7ms, total=8.31s, count=300, min=18.2ms, max=49.3ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.8ms, max=3906.8ms
+  task_specific_sample: mean=376.5ms, total=753.0ms, count=2, min=209.6ms, max=543.4ms
+  task_sampling: mean=546.6ms, total=546.6ms, count=1, min=546.6ms, max=546.6ms
+  task_sampling_failed: mean=216.2ms, total=216.2ms, count=1, min=216.2ms, max=216.2ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=461.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99302779  1.29338968  0.03020875] yaw=-105.4deg	[env.py: 1019]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63730617  0.47138001  0.03020875] yaw=212.8deg	[env.py: 1019]
+05/12 06:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93993378  0.99156653  0.03020875] yaw=-138.7deg	[env.py: 1019]
+05/12 06:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:52:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.0ms, total=367.0ms	[env.py: 1075]
+05/12 06:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 1.293, 0.030)	[env.py: 1079]
+05/12 06:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.4 deg	[env.py: 1082]
+05/12 06:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/12 06:52:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:52:49 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:52:49 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]
+05/12 06:52:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:52:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:52:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:52:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:52:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:52:50 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]
+05/12 06:52:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:52:50 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]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098517m	[env.py: 870]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:52:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94116978  0.51481063  0.09851651] yaw=-155.9deg	[env.py: 1019]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75243436  0.25920207  0.09851651] yaw=155.6deg	[env.py: 1019]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:52:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.8ms	[env.py: 1075]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.515, 0.099)	[env.py: 1079]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
+05/12 06:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m	[env.py: 1086]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:52:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:52:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:52:51 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]
+05/12 06:52:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:52:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:52:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.984s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:52:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.715[deg]	[grasp_sample.py: 539]
+05/12 06:52:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:52:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.852s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 06:52:52 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 06:52:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:52:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:52:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:52:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:52:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:52:54 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]
+05/12 06:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:52:54 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]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063637m	[env.py: 870]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07138269  0.95527885  0.06363695] yaw=-155.2deg	[env.py: 1019]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85026549  1.02213776  0.06363695] yaw=-168.8deg	[env.py: 1019]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04938349  1.1876851   0.06363695] yaw=-94.7deg	[env.py: 1019]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:52:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=241.1ms, total=241.2ms	[env.py: 1075]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 0.955, 0.064)	[env.py: 1079]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
+05/12 06:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:52:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:52:54 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:52:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:52:54 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]
+05/12 06:52:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:52:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:52:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.932s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:52:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 86.165[deg]	[grasp_sample.py: 539]
+05/12 06:52:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:52:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:52:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:52:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:53:07 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:53:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:53:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:53:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:53:36 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:53:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:53:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:53:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:53:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:53:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:53:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:53:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:53:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:53:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:53:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:53:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.36s (batch: 4.38s, save: 11.98s)	[pipeline.py: 300]
+05/12 06:53:53 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s:
+  episode_total: mean=194.09s, total=194.09s, count=1, min=194085.6ms, max=194085.6ms
+  sensor_polling: mean=442.9ms, total=132.87s, count=300, min=393.0ms, max=940.1ms
+  save_trajectories: mean=11.98s, total=11.98s, count=1, min=11977.3ms, max=11977.3ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=21.6ms, max=47.5ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4381.5ms, max=4381.5ms
+  task_sampling: mean=1.03s, total=1.03s, count=1, min=1029.7ms, max=1029.7ms
+  task_specific_sample: mean=1.03s, total=1.03s, count=1, min=1025.8ms, max=1025.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=462.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:53:54 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:53:54 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:53:54 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/12 06:53:54 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=5012.36s
+  House averages:
+  episode_total: mean=154.17s, total=2775.00s, count=18, min=394.7ms, max=239887.2ms
+  sensor_polling: mean=459.4ms, total=1927.58s, count=4196, min=384.4ms, max=1045.9ms
+  save_trajectories: mean=12.04s, total=120.40s, count=10, min=11295.4ms, max=12929.6ms
+  physics_step: mean=27.1ms, total=113.73s, count=4196, min=15.4ms, max=172.7ms
+  save_batch_prep: mean=4.33s, total=43.34s, count=10, min=3740.7ms, max=4752.2ms
+  task_sampling: mean=804.1ms, total=13.67s, count=17, min=460.2ms, max=3616.6ms
+  task_specific_sample: mean=603.9ms, total=10.87s, count=18, min=384.4ms, max=1025.8ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3113.8ms, max=3113.8ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.3ms, max=1925.3ms
+  scene_compile: mean=997.9ms, total=997.9ms, count=1, min=997.9ms, max=997.9ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  task_sampling_failed: mean=394.6ms, total=394.6ms, count=1, min=394.6ms, max=394.6ms
+  compile_xml_load: mean=187.7ms, total=187.7ms, count=1, min=187.7ms, max=187.7ms
+  scene_init: mean=126.8ms, total=126.8ms, count=1, min=126.8ms, max=126.8ms
+  scene_asset_install: mean=63.3ms, total=63.3ms, count=1, min=63.3ms, max=63.3ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  scene_randomize: mean=2.3ms, total=41.6ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=516.9us, total=9.3ms, count=18, min=0.5ms, max=0.7ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  policy_setup: mean=22.6us, total=0.4ms, count=17, 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]
+05/12 06:53:54 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:53:54 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5012.36s
+  Worker averages:
+  episode_total: mean=154.17s, total=2775.00s, count=18, min=394.7ms, max=239887.2ms
+  sensor_polling: mean=459.4ms, total=1927.58s, count=4196, min=384.4ms, max=1045.9ms
+  save_trajectories: mean=12.04s, total=120.40s, count=10, min=11295.4ms, max=12929.6ms
+  physics_step: mean=27.1ms, total=113.73s, count=4196, min=15.4ms, max=172.7ms
+  save_batch_prep: mean=4.33s, total=43.34s, count=10, min=3740.7ms, max=4752.2ms
+  task_sampling: mean=804.1ms, total=13.67s, count=17, min=460.2ms, max=3616.6ms
+  task_specific_sample: mean=603.9ms, total=10.87s, count=18, min=384.4ms, max=1025.8ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3113.8ms, max=3113.8ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.3ms, max=1925.3ms
+  scene_compile: mean=997.9ms, total=997.9ms, count=1, min=997.9ms, max=997.9ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  task_sampling_failed: mean=394.6ms, total=394.6ms, count=1, min=394.6ms, max=394.6ms
+  compile_xml_load: mean=187.7ms, total=187.7ms, count=1, min=187.7ms, max=187.7ms
+  scene_init: mean=126.8ms, total=126.8ms, count=1, min=126.8ms, max=126.8ms
+  scene_asset_install: mean=63.3ms, total=63.3ms, count=1, min=63.3ms, max=63.3ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  scene_randomize: mean=2.3ms, total=41.6ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=516.9us, total=9.3ms, count=18, min=0.5ms, max=0.7ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  policy_setup: mean=22.6us, total=0.4ms, count=17, 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]
+05/12 06:53:57 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:53:57 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/12 06:53:57 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/12 06:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:54:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:54:27 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]
+05/12 06:54:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:54:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:54:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.028s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:54:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.107[m] 0.335[deg]	[grasp_sample.py: 539]
+05/12 06:54:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:54:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:54:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:54:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:54:46 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]
+05/12 06:54:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:54:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:54:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.176s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:54:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 0.417[deg]	[grasp_sample.py: 539]
+05/12 06:54:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:54:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:54:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:55:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:55:02 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]
+05/12 06:55:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:55:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:55:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.381s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:55:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 0.414[deg]	[grasp_sample.py: 539]
+05/12 06:55:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:55:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:55:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:55:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:55:09 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]
+05/12 06:55:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:55:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:55:12 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.031[m] 4.394[deg]	[grasp_sample.py: 539]
+05/12 06:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:13 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:55:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:55:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:55:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:55:15 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]
+05/12 06:55:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:55:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092506m	[env.py: 870]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:55:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96155591  0.72488038  0.09250557] yaw=-197.4deg	[env.py: 1019]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00291441  0.833854    0.09250557] yaw=-145.2deg	[env.py: 1019]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83475539  0.95548246  0.09250557] yaw=-128.0deg	[env.py: 1019]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:55:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.4ms	[env.py: 1075]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.725, 0.093)	[env.py: 1079]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.4 deg	[env.py: 1082]
+05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:55:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:55:16 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:55:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:55:16 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]
+05/12 06:55:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:55:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:55:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.102s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:55:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.460[m] 96.755[deg]	[grasp_sample.py: 539]
+05/12 06:55:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:55:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:55:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/12 06:55:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 06:55:19 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.59s:
+  episode_total: mean=149.27s, total=149.27s, count=1, min=149272.7ms, max=149272.7ms
+  sensor_polling: mean=453.1ms, total=91.52s, count=202, min=372.9ms, max=924.7ms
+  physics_step: mean=26.6ms, total=5.37s, count=202, min=15.1ms, max=36.8ms
+  task_sampling: mean=594.1ms, total=594.1ms, count=1, min=594.1ms, max=594.1ms
+  task_specific_sample: mean=589.9ms, total=589.9ms, count=1, min=589.9ms, max=589.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=462.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.4us, 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]
+05/12 06:55:21 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:55:21 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:55:21 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/12 06:55:21 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5068.49s
+  House averages:
+  episode_total: mean=159.04s, total=2862.72s, count=18, min=216.2ms, max=249526.0ms
+  sensor_polling: mean=445.5ms, total=1866.02s, count=4189, min=368.9ms, max=1012.5ms
+  save_trajectories: mean=11.93s, total=143.13s, count=12, min=11064.0ms, max=13669.8ms
+  physics_step: mean=27.5ms, total=115.38s, count=4189, min=15.1ms, max=93.1ms
+  save_batch_prep: mean=4.05s, total=48.56s, count=12, min=3516.8ms, max=4852.5ms
+  task_sampling: mean=795.3ms, total=13.52s, count=17, min=424.8ms, max=4689.3ms
+  task_specific_sample: mean=546.0ms, total=9.83s, count=18, min=209.6ms, max=857.4ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3828.9ms, max=3828.9ms
+  scene_env_create: mean=2.34s, total=2.34s, count=1, min=2341.7ms, max=2341.7ms
+  scene_compile: mean=1.30s, total=1.30s, count=1, min=1300.7ms, max=1300.7ms
+  compile_mujoco: mean=843.1ms, total=843.1ms, count=1, min=843.1ms, max=843.1ms
+  compile_xml_load: mean=363.1ms, total=363.1ms, count=1, min=363.1ms, max=363.1ms
+  task_sampling_failed: mean=216.2ms, total=216.2ms, count=1, min=216.2ms, max=216.2ms
+  scene_init: mean=128.2ms, total=128.2ms, count=1, min=128.2ms, max=128.2ms
+  scene_asset_install: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=3.6ms
+  asset_install_grasps: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  mj_forward_sync: mean=498.0us, total=9.0ms, count=18, min=0.5ms, max=0.8ms
+  asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  policy_setup: mean=33.8us, total=0.6ms, count=17, min=0.0ms, max=0.2ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 06:55:21 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:55:21 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5068.49s
+  Worker averages:
+  episode_total: mean=159.04s, total=2862.72s, count=18, min=216.2ms, max=249526.0ms
+  sensor_polling: mean=445.5ms, total=1866.02s, count=4189, min=368.9ms, max=1012.5ms
+  save_trajectories: mean=11.93s, total=143.13s, count=12, min=11064.0ms, max=13669.8ms
+  physics_step: mean=27.5ms, total=115.38s, count=4189, min=15.1ms, max=93.1ms
+  save_batch_prep: mean=4.05s, total=48.56s, count=12, min=3516.8ms, max=4852.5ms
+  task_sampling: mean=795.3ms, total=13.52s, count=17, min=424.8ms, max=4689.3ms
+  task_specific_sample: mean=546.0ms, total=9.83s, count=18, min=209.6ms, max=857.4ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3828.9ms, max=3828.9ms
+  scene_env_create: mean=2.34s, total=2.34s, count=1, min=2341.7ms, max=2341.7ms
+  scene_compile: mean=1.30s, total=1.30s, count=1, min=1300.7ms, max=1300.7ms
+  compile_mujoco: mean=843.1ms, total=843.1ms, count=1, min=843.1ms, max=843.1ms
+  compile_xml_load: mean=363.1ms, total=363.1ms, count=1, min=363.1ms, max=363.1ms
+  task_sampling_failed: mean=216.2ms, total=216.2ms, count=1, min=216.2ms, max=216.2ms
+  scene_init: mean=128.2ms, total=128.2ms, count=1, min=128.2ms, max=128.2ms
+  scene_asset_install: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=3.6ms
+  asset_install_grasps: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  mj_forward_sync: mean=498.0us, total=9.0ms, count=18, min=0.5ms, max=0.8ms
+  asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  policy_setup: mean=33.8us, total=0.6ms, count=17, min=0.0ms, max=0.2ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 06:55:23 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:55:23 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/12 06:55:23 INFO: Success rate: 92.31%	[pipeline.py: 1492]
+05/12 06:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:55:35 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:55:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:56:03 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:56:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:56:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:56:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:56:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:56:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:56:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:56:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.70s (batch: 4.20s, save: 11.50s)	[pipeline.py: 300]
+05/12 06:56:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.26s:
+  episode_total: mean=104.88s, total=209.76s, count=2, min=3779.8ms, max=205984.2ms
+  sensor_polling: mean=470.0ms, total=140.99s, count=300, min=396.9ms, max=972.0ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11496.9ms, max=11496.9ms
+  physics_step: mean=28.5ms, total=8.54s, count=300, min=21.5ms, max=94.3ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4203.2ms, max=4203.2ms
+  task_sampling: mean=629.9ms, total=1.26s, count=2, min=533.5ms, max=726.4ms
+  task_specific_sample: mean=625.9ms, total=1.25s, count=2, min=529.8ms, max=722.1ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=534.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:56:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:56:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:56:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:56:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:56:21 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]
+05/12 06:56:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:56:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096344m	[env.py: 870]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:56:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16925482  1.06400432  0.09634406] yaw=-140.5deg	[env.py: 1019]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98414286  0.19677493  0.09634406] yaw=133.2deg	[env.py: 1019]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68024468  0.75268247  0.09634406] yaw=-135.7deg	[env.py: 1019]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:56:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms	[env.py: 1075]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.169, 1.064, 0.096)	[env.py: 1079]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
+05/12 06:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:56:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:56:21 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:56:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:56:22 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]
+05/12 06:56:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:56:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:56:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:56:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 78.987[deg]	[grasp_sample.py: 539]
+05/12 06:56:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:56:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:56:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:56:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:57:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:57:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:57:35 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:58:05 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:58:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:58:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:58:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:58:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.77s (batch: 4.27s, save: 10.50s)	[pipeline.py: 300]
+05/12 06:58:20 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.40s:
+  episode_total: mean=158.76s, total=476.27s, count=3, min=126894.6ms, max=185005.7ms
+  sensor_polling: mean=455.2ms, total=357.75s, count=786, min=391.9ms, max=975.1ms
+  physics_step: mean=27.1ms, total=21.31s, count=786, min=18.7ms, max=88.0ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10500.3ms, max=10500.3ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4271.2ms, max=4271.2ms
+  task_sampling: mean=466.8ms, total=1.40s, count=3, min=382.8ms, max=531.0ms
+  task_specific_sample: mean=462.7ms, total=1.39s, count=3, min=378.9ms, max=526.7ms
+  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.5ms, max=2.7ms
+  mj_forward_sync: mean=515.5us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:58:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:21 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:58:21 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:58:21 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
+05/12 06:58:21 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5496.71s
+  House averages:
+  episode_total: mean=169.15s, total=3044.63s, count=18, min=4834.6ms, max=221465.2ms
+  sensor_polling: mean=457.0ms, total=2122.38s, count=4644, min=383.7ms, max=1018.5ms
+  physics_step: mean=27.1ms, total=125.94s, count=4644, min=16.9ms, max=88.0ms
+  save_trajectories: mean=11.20s, total=123.21s, count=11, min=10500.3ms, max=12014.2ms
+  save_batch_prep: mean=4.34s, total=47.73s, count=11, min=3849.1ms, max=5214.7ms
+  task_sampling: mean=761.8ms, total=13.71s, count=18, min=382.8ms, max=4730.5ms
+  task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=378.9ms, max=757.6ms
+  scene_load: mean=3.97s, total=3.97s, count=1, min=3969.0ms, max=3969.0ms
+  scene_env_create: mean=2.42s, total=2.42s, count=1, min=2417.8ms, max=2417.8ms
+  scene_compile: mean=1.31s, total=1.31s, count=1, min=1311.9ms, max=1311.9ms
+  compile_mujoco: mean=778.3ms, total=778.3ms, count=1, min=778.3ms, max=778.3ms
+  compile_xml_load: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  scene_init: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  scene_asset_install: mean=107.1ms, total=107.1ms, count=1, min=107.1ms, max=107.1ms
+  asset_install_grasps: mean=90.8ms, total=90.8ms, count=1, min=90.8ms, max=90.8ms
+  compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms
+  compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.5ms, max=4.1ms
+  compile_robot_add: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  mj_forward_sync: mean=531.5us, total=9.6ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=23.1us, 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]
+05/12 06:58:21 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:58:21 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5496.71s
+  Worker averages:
+  episode_total: mean=169.15s, total=3044.63s, count=18, min=4834.6ms, max=221465.2ms
+  sensor_polling: mean=457.0ms, total=2122.38s, count=4644, min=383.7ms, max=1018.5ms
+  physics_step: mean=27.1ms, total=125.94s, count=4644, min=16.9ms, max=88.0ms
+  save_trajectories: mean=11.20s, total=123.21s, count=11, min=10500.3ms, max=12014.2ms
+  save_batch_prep: mean=4.34s, total=47.73s, count=11, min=3849.1ms, max=5214.7ms
+  task_sampling: mean=761.8ms, total=13.71s, count=18, min=382.8ms, max=4730.5ms
+  task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=378.9ms, max=757.6ms
+  scene_load: mean=3.97s, total=3.97s, count=1, min=3969.0ms, max=3969.0ms
+  scene_env_create: mean=2.42s, total=2.42s, count=1, min=2417.8ms, max=2417.8ms
+  scene_compile: mean=1.31s, total=1.31s, count=1, min=1311.9ms, max=1311.9ms
+  compile_mujoco: mean=778.3ms, total=778.3ms, count=1, min=778.3ms, max=778.3ms
+  compile_xml_load: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  scene_init: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  scene_asset_install: mean=107.1ms, total=107.1ms, count=1, min=107.1ms, max=107.1ms
+  asset_install_grasps: mean=90.8ms, total=90.8ms, count=1, min=90.8ms, max=90.8ms
+  compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms
+  compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.5ms, max=4.1ms
+  compile_robot_add: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  mj_forward_sync: mean=531.5us, total=9.6ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=23.1us, 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]
+05/12 06:58:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:24 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:58:24 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
+05/12 06:58:24 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 06:58:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:58:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:58:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:58:25 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]
+05/12 06:58:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:58:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:58:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:58:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.357[deg]	[grasp_sample.py: 539]
+05/12 06:58:29 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:58:31 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:58:31 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/12 06:58:31 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/12 06:58:31 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5500.40s
+  House averages:
+  episode_total: mean=169.54s, total=3051.66s, count=18, min=3779.8ms, max=228909.3ms
+  sensor_polling: mean=458.5ms, total=2077.92s, count=4532, min=389.2ms, max=982.6ms
+  save_trajectories: mean=12.22s, total=158.91s, count=13, min=10972.7ms, max=13482.1ms
+  physics_step: mean=27.1ms, total=122.66s, count=4532, min=14.4ms, max=190.7ms
+  save_batch_prep: mean=4.50s, total=58.46s, count=13, min=4203.2ms, max=4863.6ms
+  task_sampling: mean=730.5ms, total=13.15s, count=18, min=353.5ms, max=3951.9ms
+  task_specific_sample: mean=537.1ms, total=9.67s, count=18, min=350.2ms, max=972.6ms
+  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.6ms, max=3399.6ms
+  scene_env_create: mean=2.22s, total=2.22s, count=1, min=2219.4ms, max=2219.4ms
+  scene_compile: mean=978.8ms, total=978.8ms, count=1, min=978.8ms, max=978.8ms
+  compile_mujoco: mean=634.2ms, total=634.2ms, count=1, min=634.2ms, max=634.2ms
+  compile_xml_load: mean=251.9ms, total=251.9ms, count=1, min=251.9ms, max=251.9ms
+  scene_init: mean=121.0ms, total=121.0ms, count=1, min=121.0ms, max=121.0ms
+  scene_asset_install: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms
+  compile_aux_objects: mean=70.3ms, total=70.3ms, count=1, min=70.3ms, max=70.3ms
+  compile_aux_policy_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  asset_install_grasps: mean=61.1ms, total=61.1ms, count=1, min=61.1ms, max=61.1ms
+  scene_randomize: mean=2.8ms, total=49.7ms, count=18, min=1.3ms, max=4.8ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  compile_robot_add: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms
+  mj_forward_sync: mean=561.4us, total=10.1ms, count=18, min=0.5ms, max=1.2ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=22.7us, 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]
+05/12 06:58:31 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:58:31 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5500.40s
+  Worker averages:
+  episode_total: mean=169.54s, total=3051.66s, count=18, min=3779.8ms, max=228909.3ms
+  sensor_polling: mean=458.5ms, total=2077.92s, count=4532, min=389.2ms, max=982.6ms
+  save_trajectories: mean=12.22s, total=158.91s, count=13, min=10972.7ms, max=13482.1ms
+  physics_step: mean=27.1ms, total=122.66s, count=4532, min=14.4ms, max=190.7ms
+  save_batch_prep: mean=4.50s, total=58.46s, count=13, min=4203.2ms, max=4863.6ms
+  task_sampling: mean=730.5ms, total=13.15s, count=18, min=353.5ms, max=3951.9ms
+  task_specific_sample: mean=537.1ms, total=9.67s, count=18, min=350.2ms, max=972.6ms
+  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.6ms, max=3399.6ms
+  scene_env_create: mean=2.22s, total=2.22s, count=1, min=2219.4ms, max=2219.4ms
+  scene_compile: mean=978.8ms, total=978.8ms, count=1, min=978.8ms, max=978.8ms
+  compile_mujoco: mean=634.2ms, total=634.2ms, count=1, min=634.2ms, max=634.2ms
+  compile_xml_load: mean=251.9ms, total=251.9ms, count=1, min=251.9ms, max=251.9ms
+  scene_init: mean=121.0ms, total=121.0ms, count=1, min=121.0ms, max=121.0ms
+  scene_asset_install: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms
+  compile_aux_objects: mean=70.3ms, total=70.3ms, count=1, min=70.3ms, max=70.3ms
+  compile_aux_policy_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  asset_install_grasps: mean=61.1ms, total=61.1ms, count=1, min=61.1ms, max=61.1ms
+  scene_randomize: mean=2.8ms, total=49.7ms, count=18, min=1.3ms, max=4.8ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  compile_robot_add: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms
+  mj_forward_sync: mean=561.4us, total=10.1ms, count=18, min=0.5ms, max=1.2ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=22.7us, 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]
+05/12 06:58:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:58:34 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/12 06:58:34 INFO: Success rate: 92.86%	[pipeline.py: 1492]
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+05/12 06:59:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:59:52 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:59:52 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:59:52 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x767a7db6d8d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
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+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50801,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:59:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:59:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:59:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:59:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:59:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:59:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:59:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:59:53 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x76ed05983890>,
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+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50804,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:59:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:59:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:59:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:59:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:59:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:59:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:59:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:59:54 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7e91d37cf750>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50802,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:59:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:59:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:59:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:59:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:59:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:59:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:59:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:59:54 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x750d59d35110>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50803,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:59:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:59:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:59:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:59:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:59:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:59:56 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:59:56 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:59:56 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:59:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:59:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:59:56 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]
+05/12 06:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:59:56 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]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029449m	[env.py: 870]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:59:56 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:59:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:59:56 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93522357  0.9772381   0.02944932] yaw=-142.7deg	[env.py: 1019]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07705755  1.2579303   0.02944932] yaw=-89.6deg	[env.py: 1019]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:59:56 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:59:56 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:59:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:59:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:59:56 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]
+05/12 06:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:59:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041689m	[env.py: 870]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:59:56 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92033346  0.78782101  0.02944932] yaw=-157.7deg	[env.py: 1019]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=181.2ms, total=202.8ms	[env.py: 1075]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.977, 0.029)	[env.py: 1079]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72590737  0.7561912   0.04168913] yaw=-180.4deg	[env.py: 1019]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93267406  0.29727347  0.04168913] yaw=143.3deg	[env.py: 1019]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1348947   1.16074435  0.04168913] yaw=-123.2deg	[env.py: 1019]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=28.0ms, retries=153.6ms, total=181.5ms	[env.py: 1075]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.756, 0.042)	[env.py: 1079]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg	[env.py: 1082]
+05/12 06:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:59:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:59:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:59:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:59:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:59:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:59:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:59:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:59:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:59:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:59:57 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]
+05/12 06:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:59:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002526m	[env.py: 870]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:59:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:59:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:59:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9457021   0.68347845  0.00252632] yaw=-183.1deg	[env.py: 1019]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:59:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:59:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:59:57 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]
+05/12 06:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:59:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033658m	[env.py: 870]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:59:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63309374  0.36216244  0.00252632] yaw=135.6deg	[env.py: 1019]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99037779  0.78562483  0.00252632] yaw=-181.8deg	[env.py: 1019]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:59:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=328.6ms, total=349.9ms	[env.py: 1075]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.683, 0.003)	[env.py: 1079]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.1 deg	[env.py: 1082]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78480875  0.07570175  0.03365778] yaw=134.4deg	[env.py: 1019]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82164907  0.31482605  0.03365778] yaw=161.2deg	[env.py: 1019]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:59:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=55.4ms, retries=240.8ms, total=296.2ms	[env.py: 1075]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.076, 0.034)	[env.py: 1079]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg	[env.py: 1082]
+05/12 06:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:59:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:59:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:59:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:59:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:00:31 INFO: [Worker 0] Warmed up parallel IK solver in 34.751s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:00:31 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]
+05/12 07:00:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:00:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 34.386s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:00:32 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]
+05/12 07:00:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:00:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 35.911s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:00:32 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]
+05/12 07:00:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:00:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 35.691s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:00:33 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]
+05/12 07:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:00:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.139s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:00:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.507[m] 96.296[deg]	[grasp_sample.py: 539]
+05/12 07:00:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:00:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:00:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:00:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:00:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.590[m] 88.674[deg]	[grasp_sample.py: 539]
+05/12 07:00:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:00:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:00:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.385[m] 95.009[deg]	[grasp_sample.py: 539]
+05/12 07:00:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:00:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:00:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:00:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:00:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:00:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.561[m] 91.477[deg]	[grasp_sample.py: 539]
+05/12 07:00:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:00:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:00:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:00:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:00:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:00:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:01:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:01:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:01:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:01:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:01:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:01:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:02:37 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:02:42 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:02:50 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:03:01 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:03:04 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:03:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:03:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:03:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:03:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:03:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:03:17 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:03:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:03:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:03:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:03:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:03:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.95s (batch: 5.21s, save: 11.74s)	[pipeline.py: 300]
+05/12 07:03:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.12s:
+  episode_total: mean=209.35s, total=209.35s, count=1, min=209349.1ms, max=209349.1ms
+  sensor_polling: mean=379.0ms, total=113.70s, count=300, min=369.1ms, max=573.7ms
+  save_trajectories: mean=11.74s, total=11.74s, count=1, min=11738.3ms, max=11738.3ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=18.3ms, max=33.5ms
+  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5213.0ms, max=5213.0ms
+  task_sampling: mean=4.12s, total=4.12s, count=1, min=4115.2ms, max=4115.2ms
+  scene_load: mean=3.55s, total=3.55s, count=1, min=3548.2ms, max=3548.2ms
+  scene_env_create: mean=2.16s, total=2.16s, count=1, min=2161.9ms, max=2161.9ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1210.9ms, max=1210.9ms
+  compile_mujoco: mean=706.7ms, total=706.7ms, count=1, min=706.7ms, max=706.7ms
+  task_specific_sample: mean=563.8ms, total=563.8ms, count=1, min=563.8ms, max=563.8ms
+  compile_xml_load: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms
+  scene_init: mean=121.5ms, total=121.5ms, count=1, min=121.5ms, max=121.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_grasps: mean=37.9ms, total=37.9ms, count=1, min=37.9ms, max=37.9ms
+  compile_robot_add: mean=22.3ms, total=22.3ms, count=1, min=22.3ms, max=22.3ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=445.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=60.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 07:03:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:03:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:03:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:03:23 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]
+05/12 07:03:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:03:23 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]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065173m	[env.py: 870]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:03:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62420515  0.33757419  0.06517305] yaw=153.4deg	[env.py: 1019]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90494723  0.1276696   0.06517305] yaw=145.8deg	[env.py: 1019]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80184844  0.05509959  0.06517305] yaw=148.2deg	[env.py: 1019]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:03:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.0ms, total=221.1ms	[env.py: 1075]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.338, 0.065)	[env.py: 1079]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg	[env.py: 1082]
+05/12 07:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:03:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:03:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:03:24 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]
+05/12 07:03:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:03:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:03:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.198s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:03:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 78.577[deg]	[grasp_sample.py: 539]
+05/12 07:03:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:03:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:03:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:03:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.31s (batch: 4.63s, save: 11.68s)	[pipeline.py: 300]
+05/12 07:03:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:03:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:03:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:03:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.61s:
+  episode_total: mean=213.60s, total=213.60s, count=1, min=213595.1ms, max=213595.1ms
+  sensor_polling: mean=392.5ms, total=117.75s, count=300, min=368.3ms, max=711.4ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11677.7ms, max=11677.7ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.2ms, max=37.7ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4632.3ms, max=4632.3ms
+  task_sampling: mean=3.61s, total=3.61s, count=1, min=3606.8ms, max=3606.8ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3110.3ms, max=3110.3ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.1ms, max=1925.1ms
+  scene_compile: mean=915.4ms, total=915.4ms, count=1, min=915.4ms, max=915.4ms
+  compile_mujoco: mean=640.6ms, total=640.6ms, count=1, min=640.6ms, max=640.6ms
+  task_specific_sample: mean=490.8ms, total=490.8ms, count=1, min=490.8ms, max=490.8ms
+  compile_xml_load: mean=201.1ms, total=201.1ms, count=1, min=201.1ms, max=201.1ms
+  scene_init: mean=154.1ms, total=154.1ms, count=1, min=154.1ms, max=154.1ms
+  scene_asset_install: mean=115.2ms, total=115.2ms, count=1, min=115.2ms, max=115.2ms
+  asset_install_grasps: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_objects: mean=31.2ms, total=31.2ms, count=1, min=31.2ms, max=31.2ms
+  asset_install_scene: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=624.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=51.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 07:03:27 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:03:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 07:03:27 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/12 07:03:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:03:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:03:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:03:28 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]
+05/12 07:03:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:03:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099677m	[env.py: 870]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:03:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02043352  0.13958364  0.0996772 ] yaw=115.2deg	[env.py: 1019]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84950454  0.20964286  0.0996772 ] yaw=125.5deg	[env.py: 1019]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81619244  0.00867496  0.0996772 ] yaw=155.7deg	[env.py: 1019]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:03:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.5ms, total=172.5ms	[env.py: 1075]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.140, 0.100)	[env.py: 1079]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 115.2 deg	[env.py: 1082]
+05/12 07:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:03:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:03:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:03:29 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]
+05/12 07:03:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:03:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:03:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.065s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:03:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.468[m] 94.792[deg]	[grasp_sample.py: 539]
+05/12 07:03:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:03:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:03:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:03:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:03:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.63s (batch: 4.03s, save: 11.60s)	[pipeline.py: 300]
+05/12 07:03:33 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.55s:
+  episode_total: mean=219.07s, total=219.07s, count=1, min=219070.3ms, max=219070.3ms
+  sensor_polling: mean=409.4ms, total=122.83s, count=300, min=391.1ms, max=768.3ms
+  save_trajectories: mean=11.60s, total=11.60s, count=1, min=11604.3ms, max=11604.3ms
+  physics_step: mean=24.1ms, total=7.23s, count=300, min=17.3ms, max=36.1ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4028.1ms, max=4028.1ms
+  task_sampling: mean=3.55s, total=3.55s, count=1, min=3552.7ms, max=3552.7ms
+  scene_load: mean=2.91s, total=2.91s, count=1, min=2914.6ms, max=2914.6ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1713.2ms, max=1713.2ms
+  scene_compile: mean=932.0ms, total=932.0ms, count=1, min=932.0ms, max=932.0ms
+  compile_mujoco: mean=666.3ms, total=666.3ms, count=1, min=666.3ms, max=666.3ms
+  task_specific_sample: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
+  scene_init: mean=215.5ms, total=215.5ms, count=1, min=215.5ms, max=215.5ms
+  compile_xml_load: mean=189.6ms, total=189.6ms, count=1, min=189.6ms, max=189.6ms
+  compile_aux_objects: mean=54.8ms, total=54.8ms, count=1, min=54.8ms, max=54.8ms
+  compile_aux_policy_objects: mean=54.8ms, total=54.8ms, count=1, min=54.8ms, max=54.8ms
+  scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_grasps: mean=39.1ms, total=39.1ms, count=1, min=39.1ms, max=39.1ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=598.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=40.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:03:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:03:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:03:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:03:35 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]
+05/12 07:03:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:03:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048695m	[env.py: 870]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:03:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90496912  1.00767273  0.04869478] yaw=-158.7deg	[env.py: 1019]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79852453  0.16757171  0.04869478] yaw=180.6deg	[env.py: 1019]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:03:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms	[env.py: 1075]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 1.008, 0.049)	[env.py: 1079]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg	[env.py: 1082]
+05/12 07:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:03:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:03:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:03:35 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]
+05/12 07:03:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:03:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:03:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:03:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 89.512[deg]	[grasp_sample.py: 539]
+05/12 07:03:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:03:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:03:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:03:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:03:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:03:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.57s (batch: 4.14s, save: 11.43s)	[pipeline.py: 300]
+05/12 07:03:44 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.84s:
+  episode_total: mean=230.23s, total=230.23s, count=1, min=230229.2ms, max=230229.2ms
+  sensor_polling: mean=452.1ms, total=134.26s, count=297, min=403.2ms, max=799.3ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11426.9ms, max=11426.9ms
+  physics_step: mean=27.6ms, total=8.20s, count=297, min=21.6ms, max=35.9ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4139.4ms, max=4139.4ms
+  task_sampling: mean=3.84s, total=3.84s, count=1, min=3844.2ms, max=3844.2ms
+  scene_load: mean=3.15s, total=3.15s, count=1, min=3153.1ms, max=3153.1ms
+  scene_env_create: mean=2.05s, total=2.05s, count=1, min=2047.5ms, max=2047.5ms
+  scene_compile: mean=935.4ms, total=935.4ms, count=1, min=935.4ms, max=935.4ms
+  task_specific_sample: mean=688.2ms, total=688.2ms, count=1, min=688.2ms, max=688.2ms
+  compile_mujoco: mean=671.2ms, total=671.2ms, count=1, min=671.2ms, max=671.2ms
+  compile_xml_load: mean=186.1ms, total=186.1ms, count=1, min=186.1ms, max=186.1ms
+  scene_init: mean=116.2ms, total=116.2ms, count=1, min=116.2ms, max=116.2ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_asset_install: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=461.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=63.7us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 07:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:03:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:03:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:03:45 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]
+05/12 07:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075815m	[env.py: 870]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64290174  0.27946261  0.07581489] yaw=139.8deg	[env.py: 1019]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00628482  1.17948914  0.07581489] yaw=-101.3deg	[env.py: 1019]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83178528  0.92715828  0.07581489] yaw=-181.2deg	[env.py: 1019]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.1ms, total=158.2ms	[env.py: 1075]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.643, 0.279, 0.076)	[env.py: 1079]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.8 deg	[env.py: 1082]
+05/12 07:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:03:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:03:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:03:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:03:46 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]
+05/12 07:03:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:03:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:03:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:03:50 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.692[m] 81.842[deg]	[grasp_sample.py: 539]
+05/12 07:03:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:03:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:03:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:03:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:04:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:04:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:04:27 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]
+05/12 07:04:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:04:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:04:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:04:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:04:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:04:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:04:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:05:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:05:03 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]
+05/12 07:05:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:05:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:05:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:05:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.722s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:05:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.292[deg]	[grasp_sample.py: 539]
+05/12 07:05:05 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:05:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:05:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:05:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:05:06 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]
+05/12 07:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:05:06 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]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084983m	[env.py: 870]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01371731  0.88346706  0.08498274] yaw=-167.5deg	[env.py: 1019]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69420987  0.44635407  0.08498274] yaw=160.9deg	[env.py: 1019]
+05/12 07:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:05:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=301.1ms, total=301.2ms	[env.py: 1075]
+05/12 07:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.883, 0.085)	[env.py: 1079]
+05/12 07:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/12 07:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
+05/12 07:05:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:05:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:05:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:05:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:05:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:05:07 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]
+05/12 07:05:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:05:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:05:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.832s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:05:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 84.700[deg]	[grasp_sample.py: 539]
+05/12 07:05:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:05:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:05:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:05:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:05:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:05:38 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]
+05/12 07:05:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:05:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:05:39 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:05:39 INFO: [Worker 0] Feasible grasp found 94 (originally 94): w/ 0.103[m] 3.713[deg]	[grasp_sample.py: 539]
+05/12 07:05:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:05:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:05:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:05:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:05:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:05:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:05:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:05:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:05:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 90.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:05:58 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/12 07:06:00 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:06:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:06:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:06:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:06:01 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]
+05/12 07:06:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:06:01 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]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036357m	[env.py: 870]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:06:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9311859   1.13769997  0.03635655] yaw=-105.1deg	[env.py: 1019]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82408897  0.96393756  0.03635655] yaw=-154.6deg	[env.py: 1019]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07152521  1.26839892  0.03635655] yaw=-134.7deg	[env.py: 1019]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:06:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=174.3ms, total=174.3ms	[env.py: 1075]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 1.138, 0.036)	[env.py: 1079]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.1 deg	[env.py: 1082]
+05/12 07:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:06:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:06:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:06:01 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]
+05/12 07:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:06:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:06:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.368s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:06:08 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.714[m] 98.343[deg]	[grasp_sample.py: 539]
+05/12 07:06:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:06:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:06:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:06:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 07:06:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.43s:
+  episode_total: mean=157.50s, total=157.50s, count=1, min=157497.2ms, max=157497.2ms
+  sensor_polling: mean=425.5ms, total=127.65s, count=300, min=403.3ms, max=879.9ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=17.2ms, max=64.5ms
+  task_sampling: mean=434.1ms, total=434.1ms, count=1, min=434.1ms, max=434.1ms
+  task_specific_sample: mean=429.5ms, total=429.5ms, count=1, min=429.5ms, max=429.5ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=466.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:06:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:06:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:06:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:06:25 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]
+05/12 07:06:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:06:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059337m	[env.py: 870]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:06:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87201813  1.11086372  0.05933698] yaw=-157.2deg	[env.py: 1019]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89750532  0.36434193  0.05933698] yaw=137.5deg	[env.py: 1019]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13149233  1.07253125  0.05933698] yaw=-147.7deg	[env.py: 1019]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=118.4ms, total=118.5ms	[env.py: 1075]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 1.111, 0.059)	[env.py: 1079]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg	[env.py: 1082]
+05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:06:25 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:06:25 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]
+05/12 07:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:06:28 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:06:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:06:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:06:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:06:29 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.655[m] 75.104[deg]	[grasp_sample.py: 539]
+05/12 07:06:31 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:06:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:06:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:06:33 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]
+05/12 07:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:06:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024246m	[env.py: 870]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70195467  0.06974538  0.02424644] yaw=154.3deg	[env.py: 1019]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79341956  0.48853845  0.02424644] yaw=-176.8deg	[env.py: 1019]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79329165  0.55288421  0.02424644] yaw=-197.2deg	[env.py: 1019]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:06:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms	[env.py: 1075]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.070, 0.024)	[env.py: 1079]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.3 deg	[env.py: 1082]
+05/12 07:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:06:34 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:06:34 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]
+05/12 07:06:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:06:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:06:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:06:41 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.611[m] 79.674[deg]	[grasp_sample.py: 539]
+05/12 07:06:42 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:06:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:06:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:06:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:06:43 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]
+05/12 07:06:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:06:43 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]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068856m	[env.py: 870]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:06:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82916054  0.76042772  0.06885625] yaw=-195.4deg	[env.py: 1019]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.63515105  0.53072037  0.06885625] yaw=-145.5deg	[env.py: 1019]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:06:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.8ms, total=283.8ms	[env.py: 1075]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.760, 0.069)	[env.py: 1079]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg	[env.py: 1082]
+05/12 07:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:06:44 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:06:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:06:44 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]
+05/12 07:06:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:06:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:06:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:06:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:06:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.17s (batch: 4.06s, save: 12.12s)	[pipeline.py: 300]
+05/12 07:06:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.056s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:06:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.587[m] 90.152[deg]	[grasp_sample.py: 539]
+05/12 07:06:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:06:45 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
+  episode_total: mean=190.47s, total=190.47s, count=1, min=190470.9ms, max=190470.9ms
+  sensor_polling: mean=437.7ms, total=131.31s, count=300, min=389.4ms, max=765.5ms
+  save_trajectories: mean=12.12s, total=12.12s, count=1, min=12115.7ms, max=12115.7ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.9ms, max=70.8ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.7ms, max=4058.7ms
+  task_sampling: mean=466.2ms, total=466.2ms, count=1, min=466.2ms, max=466.2ms
+  task_specific_sample: mean=461.5ms, total=461.5ms, count=1, min=461.5ms, max=461.5ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=462.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:06:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:06:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:06:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:06:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:06:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:06:47 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]
+05/12 07:06:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:06:47 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]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037571m	[env.py: 870]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:06:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66115473  0.30826481  0.03757119] yaw=156.8deg	[env.py: 1019]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8742631   0.72573094  0.03757119] yaw=-151.3deg	[env.py: 1019]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71039134  0.38268542  0.03757119] yaw=165.5deg	[env.py: 1019]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=271.9ms, total=272.0ms	[env.py: 1075]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.661, 0.308, 0.038)	[env.py: 1079]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
+05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:06:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:06:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:06:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:06:47 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]
+05/12 07:06:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:06:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:06:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:06:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.621[m] 87.402[deg]	[grasp_sample.py: 539]
+05/12 07:06:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:06:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:06:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:06:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:07:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:07:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:07:25 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:07:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:07:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:07:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:07:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:07:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:07:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:08:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:08:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:08:07 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]
+05/12 07:08:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:08:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:08:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:08:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:08:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.59s (batch: 4.05s, save: 11.54s)	[pipeline.py: 300]
+05/12 07:08:10 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.04s:
+  episode_total: mean=140.46s, total=280.91s, count=2, min=96766.8ms, max=184146.6ms
+  sensor_polling: mean=413.6ms, total=203.09s, count=491, min=372.1ms, max=879.1ms
+  physics_step: mean=25.5ms, total=12.53s, count=491, min=16.7ms, max=42.7ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11539.2ms, max=11539.2ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4053.5ms, max=4053.5ms
+  task_sampling: mean=517.8ms, total=1.04s, count=2, min=455.0ms, max=580.6ms
+  task_specific_sample: mean=514.2ms, total=1.03s, count=2, min=451.0ms, max=577.4ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=447.3us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:08:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:08:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:08:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:08:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:08:12 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]
+05/12 07:08:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:08:12 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]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038105m	[env.py: 870]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:08:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92905156  0.3939931   0.03810513] yaw=149.0deg	[env.py: 1019]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92126955  0.38667249  0.03810513] yaw=197.8deg	[env.py: 1019]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78809024  0.57035166  0.03810513] yaw=-203.9deg	[env.py: 1019]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:08:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.2ms, total=124.2ms	[env.py: 1075]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.394, 0.038)	[env.py: 1079]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.0 deg	[env.py: 1082]
+05/12 07:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:08:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:08:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:08:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:08:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:08:12 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]
+05/12 07:08:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:08:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:08:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:08:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.355[m] 81.293[deg]	[grasp_sample.py: 539]
+05/12 07:08:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:08:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:08:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:08:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 9.098s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:08:16 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.130[m] 9.472[deg]	[grasp_sample.py: 539]
+05/12 07:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:08:26 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:08:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:08:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:08:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:08:56 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:08:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:08:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:08:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:09:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:09:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:09:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:09:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 21.17s (batch: 7.66s, save: 13.51s)	[pipeline.py: 300]
+05/12 07:09:18 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.11s:
+  episode_total: mean=176.09s, total=352.19s, count=2, min=154490.1ms, max=197695.8ms
+  sensor_polling: mean=415.6ms, total=173.72s, count=418, min=374.5ms, max=787.6ms
+  save_trajectories: mean=13.51s, total=13.51s, count=1, min=13509.6ms, max=13509.6ms
+  physics_step: mean=24.8ms, total=10.36s, count=418, min=17.4ms, max=43.9ms
+  save_batch_prep: mean=7.66s, total=7.66s, count=1, min=7657.9ms, max=7657.9ms
+  task_sampling: mean=555.5ms, total=1.11s, count=2, min=539.2ms, max=571.9ms
+  task_specific_sample: mean=547.7ms, total=1.10s, count=2, min=534.0ms, max=561.4ms
+  scene_randomize: mean=4.4ms, total=8.8ms, count=2, min=3.5ms, max=5.2ms
+  mj_forward_sync: mean=475.1us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=32.0us, 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]
+05/12 07:09:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:09:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:09:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:09:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:09:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:09:20 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]
+05/12 07:09:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:09:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059328m	[env.py: 870]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:09:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67334004  0.28805271  0.0593281 ] yaw=179.2deg	[env.py: 1019]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78554287  0.61797919  0.0593281 ] yaw=-189.7deg	[env.py: 1019]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.18328772  1.09006339  0.0593281 ] yaw=-101.4deg	[env.py: 1019]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=518.2ms, total=518.3ms	[env.py: 1075]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.673, 0.288, 0.059)	[env.py: 1079]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.2 deg	[env.py: 1082]
+05/12 07:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/12 07:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:09:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:09:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:09:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.180s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:09:21 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]
+05/12 07:09:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:09:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:09:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.211s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:09:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 81.387[deg]	[grasp_sample.py: 539]
+05/12 07:09:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:09:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:09:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:09:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:09:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:09:47 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]
+05/12 07:09:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:09:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:09:47 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:09:47 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.157[m] 3.395[deg]	[grasp_sample.py: 539]
+05/12 07:09:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:09:47 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:09:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 07:09:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:09:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:53 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:10:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:10:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:10:00 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]
+05/12 07:10:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:10:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:10:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:10:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.466[deg]	[grasp_sample.py: 539]
+05/12 07:10:02 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:10:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:10:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.42s (batch: 4.31s, save: 12.11s)	[pipeline.py: 300]
+05/12 07:10:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:10:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:10:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:10:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:10:04 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]
+05/12 07:10:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:10:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067007m	[env.py: 870]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:10:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79557883  0.92418593  0.06700661] yaw=-162.6deg	[env.py: 1019]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79229897  0.86071182  0.06700661] yaw=-160.6deg	[env.py: 1019]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81161937  0.33907777  0.06700661] yaw=182.9deg	[env.py: 1019]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:10:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.9ms, total=98.0ms	[env.py: 1075]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.924, 0.067)	[env.py: 1079]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
+05/12 07:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:10:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:10:04 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:10:05 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]
+05/12 07:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:10:05 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.47s:
+  episode_total: mean=72.23s, total=216.68s, count=3, min=6569.0ms, max=201487.7ms
+  sensor_polling: mean=436.8ms, total=131.03s, count=300, min=399.0ms, max=803.0ms
+  save_trajectories: mean=12.11s, total=12.11s, count=1, min=12107.2ms, max=12107.2ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=17.1ms, max=36.5ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.8ms, max=4312.8ms
+  task_sampling: mean=490.1ms, total=1.47s, count=3, min=438.1ms, max=552.0ms
+  task_specific_sample: mean=485.9ms, total=1.46s, count=3, min=433.8ms, max=548.7ms
+  scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=586.3us, total=1.8ms, count=3, min=0.5ms, max=0.8ms
+  policy_setup: mean=20.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:10:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:10:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:10:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:10:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:10:06 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]
+05/12 07:10:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:10:06 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]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063877m	[env.py: 870]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:10:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75545813  0.26841202  0.06387666] yaw=156.5deg	[env.py: 1019]
+05/12 07:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=267.0ms, total=267.1ms	[env.py: 1075]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.268, 0.064)	[env.py: 1079]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/12 07:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/12 07:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:10:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:10:07 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:10:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:10:07 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]
+05/12 07:10:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:10:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:10:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.898s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:10:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.581[m] 90.975[deg]	[grasp_sample.py: 539]
+05/12 07:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:10:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:10:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:10:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.967s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:10:08 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.566[m] 100.642[deg]	[grasp_sample.py: 539]
+05/12 07:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:10:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:10:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:10:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:10:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:10:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:10:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:10:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:10:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:10:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:10:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:10:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.70s (batch: 4.62s, save: 11.08s)	[pipeline.py: 300]
+05/12 07:10:37 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.66s:
+  episode_total: mean=230.63s, total=230.63s, count=1, min=230632.0ms, max=230632.0ms
+  sensor_polling: mean=451.9ms, total=135.57s, count=300, min=402.0ms, max=819.8ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11079.5ms, max=11079.5ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=19.1ms, max=72.1ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4618.8ms, max=4618.8ms
+  task_sampling: mean=657.5ms, total=657.5ms, count=1, min=657.5ms, max=657.5ms
+  task_specific_sample: mean=652.8ms, total=652.8ms, count=1, min=652.8ms, max=652.8ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=607.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.5us, 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]
+05/12 07:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:10:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:10:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:10:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:10:39 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]
+05/12 07:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:10:39 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]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053291m	[env.py: 870]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92571893  0.89532538  0.05329124] yaw=-156.9deg	[env.py: 1019]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83460922  0.02652732  0.05329124] yaw=117.4deg	[env.py: 1019]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89118689  0.21597466  0.05329124] yaw=143.3deg	[env.py: 1019]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms	[env.py: 1075]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.895, 0.053)	[env.py: 1079]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg	[env.py: 1082]
+05/12 07:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:10:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:10:39 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:10:39 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]
+05/12 07:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:10:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:10:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 96.291[deg]	[grasp_sample.py: 539]
+05/12 07:10:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:10:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:10:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:10:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:11:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:11:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:11:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:11:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:11:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:11:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:11:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:11:50 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:12:16 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:12:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:12:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:12:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:12:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:12:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:12:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 17.05s (batch: 4.75s, save: 12.30s)	[pipeline.py: 300]
+05/12 07:12:33 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.91s:
+  episode_total: mean=193.37s, total=193.37s, count=1, min=193365.1ms, max=193365.1ms
+  sensor_polling: mean=451.6ms, total=135.48s, count=300, min=380.6ms, max=848.4ms
+  save_trajectories: mean=12.30s, total=12.30s, count=1, min=12300.8ms, max=12300.8ms
+  physics_step: mean=28.8ms, total=8.63s, count=300, min=22.0ms, max=48.8ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4750.2ms, max=4750.2ms
+  task_sampling: mean=911.4ms, total=911.4ms, count=1, min=911.4ms, max=911.4ms
+  task_specific_sample: mean=906.9ms, total=906.9ms, count=1, min=906.9ms, max=906.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=459.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, 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]
+05/12 07:12:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:12:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:12:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:12:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:12:35 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]
+05/12 07:12:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:12:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062146m	[env.py: 870]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:12:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12026587  1.11954845  0.06214575] yaw=-128.1deg	[env.py: 1019]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10020513  0.95497459  0.06214575] yaw=-144.1deg	[env.py: 1019]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8155293   1.12291435  0.06214575] yaw=-143.7deg	[env.py: 1019]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:12:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.6ms, total=173.6ms	[env.py: 1075]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 1.120, 0.062)	[env.py: 1079]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.1 deg	[env.py: 1082]
+05/12 07:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:12:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:12:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:12:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:12:36 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]
+05/12 07:12:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:12:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.370s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:12:38 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.449[m] 86.741[deg]	[grasp_sample.py: 539]
+05/12 07:12:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:12:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:12:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:12:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:12:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:12:48 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]
+05/12 07:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:12:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:12:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.153[deg]	[grasp_sample.py: 539]
+05/12 07:12:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:12:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:12:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:12:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:12:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:12:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:12:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:13:00 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:13:07 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:13:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:13:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:13:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.61s (batch: 4.73s, save: 11.88s)	[pipeline.py: 300]
+05/12 07:13:13 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.79s:
+  episode_total: mean=149.64s, total=299.28s, count=2, min=110627.0ms, max=188654.9ms
+  sensor_polling: mean=438.6ms, total=212.26s, count=484, min=373.7ms, max=923.3ms
+  physics_step: mean=26.6ms, total=12.86s, count=484, min=16.9ms, max=50.5ms
+  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11880.1ms, max=11880.1ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4732.8ms, max=4732.8ms
+  task_sampling: mean=394.8ms, total=789.6ms, count=2, min=359.6ms, max=430.0ms
+  task_specific_sample: mean=391.0ms, total=782.0ms, count=2, min=356.4ms, max=425.6ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=459.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.0us, 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]
+05/12 07:13:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:13:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:13:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:13:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:13:14 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]
+05/12 07:13:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:13:14 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]
+05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002324m	[env.py: 870]
+05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:13:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14944849  1.03514867  0.00232355] yaw=-174.6deg	[env.py: 1019]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86473301  0.89041099  0.00232355] yaw=-115.3deg	[env.py: 1019]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85439557  0.42475346  0.00232355] yaw=139.3deg	[env.py: 1019]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:13:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=276.0ms, total=276.0ms	[env.py: 1075]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, 1.035, 0.002)	[env.py: 1079]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.6 deg	[env.py: 1082]
+05/12 07:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/12 07:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:13:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:13:15 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:13:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:13:15 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]
+05/12 07:13:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:13:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:13:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.887s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:13:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.568[m] 102.374[deg]	[grasp_sample.py: 539]
+05/12 07:13:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:13:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:13:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:13:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:13:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:13:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:13:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 07:13:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:13:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:13:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:13:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:13:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:13:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:13:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:13:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.53s (batch: 4.43s, save: 11.10s)	[pipeline.py: 300]
+05/12 07:13:45 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.56s:
+  episode_total: mean=218.21s, total=218.21s, count=1, min=218214.4ms, max=218214.4ms
+  sensor_polling: mean=447.4ms, total=134.21s, count=300, min=402.2ms, max=786.8ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11099.1ms, max=11099.1ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=15.5ms, max=51.2ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4430.1ms, max=4430.1ms
+  task_sampling: mean=555.4ms, total=555.4ms, count=1, min=555.4ms, max=555.4ms
+  task_specific_sample: mean=551.4ms, total=551.4ms, count=1, min=551.4ms, max=551.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=459.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, 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]
+05/12 07:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:13:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:13:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:13:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:13:46 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]
+05/12 07:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:13:46 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]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081322m	[env.py: 870]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18525664  1.0697883   0.08132196] yaw=-123.3deg	[env.py: 1019]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96518862  0.7585389   0.08132196] yaw=-154.8deg	[env.py: 1019]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84479001  0.29487416  0.08132196] yaw=204.0deg	[env.py: 1019]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:13:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.1ms	[env.py: 1075]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.185, 1.070, 0.081)	[env.py: 1079]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.3 deg	[env.py: 1082]
+05/12 07:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:13:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:13:46 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:13:47 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]
+05/12 07:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.003s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:13:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 81.021[deg]	[grasp_sample.py: 539]
+05/12 07:13:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:13:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:13:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:13:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:13:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:13:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.82s (batch: 4.18s, save: 12.64s)	[pipeline.py: 300]
+05/12 07:13:54 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.49s:
+  episode_total: mean=194.85s, total=194.85s, count=1, min=194853.2ms, max=194853.2ms
+  sensor_polling: mean=452.0ms, total=135.61s, count=300, min=397.2ms, max=859.0ms
+  save_trajectories: mean=12.64s, total=12.64s, count=1, min=12639.5ms, max=12639.5ms
+  physics_step: mean=27.4ms, total=8.23s, count=300, min=18.8ms, max=36.0ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.0ms, max=4182.0ms
+  task_sampling: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
+  task_specific_sample: mean=483.0ms, total=483.0ms, count=1, min=483.0ms, max=483.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:13:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:13:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:13:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:13:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:13:55 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]
+05/12 07:13:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:13:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093668m	[env.py: 870]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:13:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7749852   0.74221784  0.09366769] yaw=-131.9deg	[env.py: 1019]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87097292  0.18597624  0.09366769] yaw=192.9deg	[env.py: 1019]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85365746  0.99716933  0.09366769] yaw=-121.0deg	[env.py: 1019]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:13:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=157.8ms, total=157.9ms	[env.py: 1075]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.742, 0.094)	[env.py: 1079]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
+05/12 07:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:13:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:13:56 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:13:56 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]
+05/12 07:13:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:13:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:13:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:13:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 97.158[deg]	[grasp_sample.py: 539]
+05/12 07:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:13:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:13:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:13:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:14:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:14:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:14:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:14:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:14:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 07:14:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:14:30 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]
+05/12 07:14:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:14:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:14:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:14:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:14:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.443[deg]	[grasp_sample.py: 539]
+05/12 07:14:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:14:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:14:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:14:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:14:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:14:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:15:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 07:15:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:15:04 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]
+05/12 07:15:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:15:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.049[deg]	[grasp_sample.py: 539]
+05/12 07:15:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:15:08 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:15:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:15:18 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]
+05/12 07:15:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:15:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:15:31 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]
+05/12 07:15:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:15:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:15:32 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:15:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:15:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:15:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:15:33 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 7.185[deg]	[grasp_sample.py: 539]
+05/12 07:15:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:15:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:15:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:15:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:15:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:15:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.31s (batch: 4.17s, save: 11.14s)	[pipeline.py: 300]
+05/12 07:15:48 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
+  episode_total: mean=193.12s, total=193.12s, count=1, min=193121.6ms, max=193121.6ms
+  sensor_polling: mean=442.2ms, total=132.65s, count=300, min=374.8ms, max=858.9ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11140.0ms, max=11140.0ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=17.9ms, max=42.5ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.0ms, max=4168.0ms
+  task_sampling: mean=480.7ms, total=480.7ms, count=1, min=480.7ms, max=480.7ms
+  task_specific_sample: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=450.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.3us, 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]
+05/12 07:15:48 INFO: [Worker 0] Feasibility-checked 84 grasps in 29.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:15:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.017[m] 26.092[deg]	[grasp_sample.py: 539]
+05/12 07:15:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:15:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:15:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:50 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:15:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:15:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:15:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:15:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:15:50 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]
+05/12 07:15:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:15:50 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]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035722m	[env.py: 870]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:15:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84646147  0.55355629  0.03572159] yaw=-182.4deg	[env.py: 1019]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04323001  1.08587573  0.03572159] yaw=-159.7deg	[env.py: 1019]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89865547  0.75722372  0.03572159] yaw=-185.6deg	[env.py: 1019]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:15:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.4ms	[env.py: 1075]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.554, 0.036)	[env.py: 1079]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.4 deg	[env.py: 1082]
+05/12 07:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:15:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:15:51 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:15:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:15:51 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]
+05/12 07:15:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:15:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:15:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:15:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.439[m] 96.470[deg]	[grasp_sample.py: 539]
+05/12 07:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:15:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:15:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:16:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:16:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:16:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:16:05 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]
+05/12 07:16:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:16:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:16:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:16:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:16:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.721[deg]	[grasp_sample.py: 539]
+05/12 07:16:09 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:16:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:16:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:16:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:16:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:16:10 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]
+05/12 07:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:16:10 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]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077803m	[env.py: 870]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9713633   0.99985072  0.07780303] yaw=-119.8deg	[env.py: 1019]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74755298  0.93160381  0.07780303] yaw=-176.1deg	[env.py: 1019]
+05/12 07:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93463777  0.59834806  0.07780303] yaw=-181.4deg	[env.py: 1019]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.6ms	[env.py: 1075]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 1.000, 0.078)	[env.py: 1079]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.8 deg	[env.py: 1082]
+05/12 07:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/12 07:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:16:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:16:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:16:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:16:11 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]
+05/12 07:16:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:16:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:16:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:16:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.506[m] 90.988[deg]	[grasp_sample.py: 539]
+05/12 07:16:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:16:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:16:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:16:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:16:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:16:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:16:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:16:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:16:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:16:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 17.25s (batch: 4.86s, save: 12.39s)	[pipeline.py: 300]
+05/12 07:16:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
+  episode_total: mean=202.67s, total=202.67s, count=1, min=202665.7ms, max=202665.7ms
+  sensor_polling: mean=429.5ms, total=128.85s, count=300, min=361.8ms, max=839.5ms
+  save_trajectories: mean=12.39s, total=12.39s, count=1, min=12387.4ms, max=12387.4ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=21.4ms, max=46.5ms
+  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4863.3ms, max=4863.3ms
+  task_sampling: mean=630.1ms, total=630.1ms, count=1, min=630.1ms, max=630.1ms
+  task_specific_sample: mean=625.8ms, total=625.8ms, count=1, min=625.8ms, max=625.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=465.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.3us, 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]
+05/12 07:16:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:16:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:16:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:16:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:16:39 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]
+05/12 07:16:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:16:39 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]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063562m	[env.py: 870]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:16:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79130039  0.26784987  0.06356181] yaw=154.1deg	[env.py: 1019]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69174561  0.42554397  0.06356181] yaw=143.0deg	[env.py: 1019]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70472939  0.22489635  0.06356181] yaw=204.0deg	[env.py: 1019]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:16:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=501.0ms, total=501.1ms	[env.py: 1075]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.268, 0.064)	[env.py: 1079]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.1 deg	[env.py: 1082]
+05/12 07:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:16:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:16:40 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:16:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:16:40 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]
+05/12 07:16:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:16:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:16:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.003s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:16:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 104.841[deg]	[grasp_sample.py: 539]
+05/12 07:16:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:16:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:16:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:16:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:16:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:16:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:17:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:17:04 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:17:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:17:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:17:33 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:17:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:17:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:17:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:17:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:17:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:17:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:17:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:17:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.24s (batch: 4.32s, save: 11.92s)	[pipeline.py: 300]
+05/12 07:17:50 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
+  episode_total: mean=235.04s, total=235.04s, count=1, min=235041.8ms, max=235041.8ms
+  sensor_polling: mean=447.9ms, total=134.38s, count=300, min=394.6ms, max=904.9ms
+  save_trajectories: mean=11.92s, total=11.92s, count=1, min=11919.1ms, max=11919.1ms
+  physics_step: mean=27.2ms, total=8.17s, count=300, min=18.3ms, max=50.9ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.7ms, max=4316.7ms
+  task_sampling: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  task_specific_sample: mean=492.9ms, total=492.9ms, count=1, min=492.9ms, max=492.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=610.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=45.4us, 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]
+05/12 07:17:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:17:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:17:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:17:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:17:52 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]
+05/12 07:17:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:17:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092977m	[env.py: 870]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:17:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83864062  0.50689572  0.09297681] yaw=-190.8deg	[env.py: 1019]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87106821  1.08399383  0.09297681] yaw=-141.3deg	[env.py: 1019]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:17:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.0ms, total=201.1ms	[env.py: 1075]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.507, 0.093)	[env.py: 1079]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.8 deg	[env.py: 1082]
+05/12 07:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:17:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:17:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:17:52 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:17:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:17:52 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]
+05/12 07:17:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:17:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:17:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:17:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.423[m] 89.066[deg]	[grasp_sample.py: 539]
+05/12 07:17:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:17:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:17:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:17:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:18:20 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:18:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:18:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:18:46 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:18:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:18:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:18:47 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:18:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:19:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:19:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.86s (batch: 5.20s, save: 11.66s)	[pipeline.py: 300]
+05/12 07:19:04 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.49s:
+  episode_total: mean=194.03s, total=194.03s, count=1, min=194025.7ms, max=194025.7ms
+  sensor_polling: mean=444.4ms, total=133.31s, count=300, min=384.8ms, max=865.5ms
+  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11661.3ms, max=11661.3ms
+  physics_step: mean=28.7ms, total=8.62s, count=300, min=21.9ms, max=46.2ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5196.4ms, max=5196.4ms
+  task_sampling: mean=489.0ms, total=489.0ms, count=1, min=489.0ms, max=489.0ms
+  task_specific_sample: mean=484.8ms, total=484.8ms, count=1, min=484.8ms, max=484.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=467.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.6us, 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]
+05/12 07:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:19:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:19:04 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]
+05/12 07:19:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:19:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:19:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:19:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:19:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:19:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:19:06 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]
+05/12 07:19:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:19:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042698m	[env.py: 870]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:19:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.717085    0.88921754  0.04269761] yaw=-171.0deg	[env.py: 1019]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68805572  0.62247752  0.04269761] yaw=-179.5deg	[env.py: 1019]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01012329  0.16630312  0.04269761] yaw=190.6deg	[env.py: 1019]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:19:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.4ms, total=270.4ms	[env.py: 1075]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.889, 0.043)	[env.py: 1079]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.0 deg	[env.py: 1082]
+05/12 07:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:19:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:19:07 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:19:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:19:07 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]
+05/12 07:19:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:19:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:19:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:19:08 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.058[m] 7.296[deg]	[grasp_sample.py: 539]
+05/12 07:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:19:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:19:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.643[m] 80.504[deg]	[grasp_sample.py: 539]
+05/12 07:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:15 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:19:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 07:19:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:19:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:19:24 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]
+05/12 07:19:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:19:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:19:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.597s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:19:27 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.058[m] 7.259[deg]	[grasp_sample.py: 539]
+05/12 07:19:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:19:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:19:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:19:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:19:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.80s (batch: 4.58s, save: 12.22s)	[pipeline.py: 300]
+05/12 07:19:32 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.01s:
+  episode_total: mean=172.36s, total=344.72s, count=2, min=142937.4ms, max=201785.8ms
+  sensor_polling: mean=467.0ms, total=258.25s, count=553, min=386.8ms, max=970.6ms
+  physics_step: mean=27.8ms, total=15.38s, count=553, min=16.8ms, max=64.8ms
+  save_trajectories: mean=12.22s, total=12.22s, count=1, min=12221.6ms, max=12221.6ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4575.6ms, max=4575.6ms
+  task_sampling: mean=505.6ms, total=1.01s, count=2, min=465.8ms, max=545.3ms
+  task_specific_sample: mean=501.5ms, total=1.00s, count=2, min=461.7ms, max=541.3ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.7ms
+  mj_forward_sync: mean=476.1us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:19:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:19:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:19:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:19:34 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]
+05/12 07:19:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:19:34 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]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080817m	[env.py: 870]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:19:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10245972  1.19179033  0.08081706] yaw=-165.9deg	[env.py: 1019]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9331246   0.58008645  0.08081706] yaw=-193.7deg	[env.py: 1019]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94645463  0.53067696  0.08081706] yaw=-179.9deg	[env.py: 1019]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:19:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=159.4ms, total=159.4ms	[env.py: 1075]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.102, 1.192, 0.081)	[env.py: 1079]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
+05/12 07:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:19:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:19:34 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:19:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:19:34 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]
+05/12 07:19:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:19:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:19:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:19:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.653[m] 83.456[deg]	[grasp_sample.py: 539]
+05/12 07:19:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:19:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:19:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:19:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:19:44 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]
+05/12 07:19:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:19:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:19:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.298s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:19:48 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.058[m] 7.259[deg]	[grasp_sample.py: 539]
+05/12 07:19:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:19:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:19:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:19:53 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:20:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:20:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:20:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:20:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:20:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:20:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:20:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:20:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:20:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:20:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 17.25s (batch: 4.67s, save: 12.58s)	[pipeline.py: 300]
+05/12 07:20:39 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.84s:
+  episode_total: mean=240.74s, total=240.74s, count=1, min=240740.8ms, max=240740.8ms
+  sensor_polling: mean=442.4ms, total=132.73s, count=300, min=381.8ms, max=848.1ms
+  save_trajectories: mean=12.58s, total=12.58s, count=1, min=12579.7ms, max=12579.7ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=14.7ms, max=52.5ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.8ms, max=4666.8ms
+  task_sampling: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms
+  task_specific_sample: mean=832.0ms, total=832.0ms, count=1, min=832.0ms, max=832.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=655.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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]
+05/12 07:20:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:20:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:20:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:20:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:20:41 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]
+05/12 07:20:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:20:41 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]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098677m	[env.py: 870]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:20:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9522174   0.0922068   0.09867703] yaw=187.7deg	[env.py: 1019]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95801701  0.64074757  0.09867703] yaw=-187.6deg	[env.py: 1019]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72925165  0.03267114  0.09867703] yaw=174.5deg	[env.py: 1019]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:20:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.8ms, total=275.9ms	[env.py: 1075]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.092, 0.099)	[env.py: 1079]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.7 deg	[env.py: 1082]
+05/12 07:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:20:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:20:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:20:42 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]
+05/12 07:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:20:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.105s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:20:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.522[m] 89.220[deg]	[grasp_sample.py: 539]
+05/12 07:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:20:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:20:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:20:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:20:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:20:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:21:16 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:21:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:21:32 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:21:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:21:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:21:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:21:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:21:45 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]
+05/12 07:21:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:21:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:21:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:21:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.127[deg]	[grasp_sample.py: 539]
+05/12 07:21:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:21:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:21:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:21:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:21:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:21:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:21:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:22:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:22:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.18s (batch: 4.65s, save: 11.53s)	[pipeline.py: 300]
+05/12 07:22:01 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.54s:
+  episode_total: mean=248.83s, total=248.83s, count=1, min=248829.5ms, max=248829.5ms
+  sensor_polling: mean=461.7ms, total=138.52s, count=300, min=396.1ms, max=903.4ms
+  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11529.8ms, max=11529.8ms
+  physics_step: mean=28.4ms, total=8.51s, count=300, min=21.8ms, max=38.8ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4648.9ms, max=4648.9ms
+  task_sampling: mean=542.1ms, total=542.1ms, count=1, min=542.1ms, max=542.1ms
+  task_specific_sample: mean=537.7ms, total=537.7ms, count=1, min=537.7ms, max=537.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=472.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=36.5us, 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]
+05/12 07:22:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:22:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:22:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:22:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:22:02 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]
+05/12 07:22:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:22:02 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]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077645m	[env.py: 870]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:22:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12434784  0.96184702  0.0776453 ] yaw=-174.5deg	[env.py: 1019]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74714198  0.33356689  0.0776453 ] yaw=208.9deg	[env.py: 1019]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:22:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.5ms, total=236.6ms	[env.py: 1075]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.124, 0.962, 0.078)	[env.py: 1079]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
+05/12 07:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:22:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:22:03 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:22:03 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]
+05/12 07:22:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:22:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:22:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:22:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.439[m] 89.482[deg]	[grasp_sample.py: 539]
+05/12 07:22:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:22:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:22:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:22:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 07:22:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:22:12 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]
+05/12 07:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:22:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:22:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:22:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.52s (batch: 4.73s, save: 11.79s)	[pipeline.py: 300]
+05/12 07:22:14 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.59s:
+  episode_total: mean=188.20s, total=188.20s, count=1, min=188199.8ms, max=188199.8ms
+  sensor_polling: mean=435.9ms, total=130.78s, count=300, min=376.1ms, max=849.5ms
+  save_trajectories: mean=11.79s, total=11.79s, count=1, min=11790.2ms, max=11790.2ms
+  physics_step: mean=27.0ms, total=8.11s, count=300, min=21.7ms, max=65.4ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4733.6ms, max=4733.6ms
+  task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
+  task_specific_sample: mean=587.6ms, total=587.6ms, count=1, min=587.6ms, max=587.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=455.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/12 07:22:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:22:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.128[m] 3.633[deg]	[grasp_sample.py: 539]
+05/12 07:22:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:22:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:22:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:22:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:22:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:22:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:22:16 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]
+05/12 07:22:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:22:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042595m	[env.py: 870]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:22:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75658636  0.11970192  0.04259548] yaw=145.4deg	[env.py: 1019]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.16501142  1.05337642  0.04259548] yaw=-130.5deg	[env.py: 1019]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.4ms, total=189.5ms	[env.py: 1075]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.120, 0.043)	[env.py: 1079]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.4 deg	[env.py: 1082]
+05/12 07:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:22:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:22:17 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:22:17 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]
+05/12 07:22:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:22:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:22:17 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 07:22:17 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.48s:
+  episode_total: mean=163.53s, total=163.53s, count=1, min=163527.5ms, max=163527.5ms
+  sensor_polling: mean=452.3ms, total=135.70s, count=300, min=396.5ms, max=969.5ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=21.6ms, max=42.3ms
+  task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms
+  task_specific_sample: mean=470.4ms, total=470.4ms, count=1, min=470.4ms, max=470.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=612.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=41.7us, 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]
+05/12 07:22:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:22:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:22:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:22:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:22:19 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]
+05/12 07:22:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:22:19 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]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065385m	[env.py: 870]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:22:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63840528  0.23984069  0.06538467] yaw=144.2deg	[env.py: 1019]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82525367  0.99213231  0.06538467] yaw=-130.5deg	[env.py: 1019]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68144062  0.85979356  0.06538467] yaw=-143.0deg	[env.py: 1019]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:22:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.0ms, total=290.0ms	[env.py: 1075]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.638, 0.240, 0.065)	[env.py: 1079]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.2 deg	[env.py: 1082]
+05/12 07:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:22:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:22:19 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:22:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:22:19 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]
+05/12 07:22:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:22:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:22:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.739s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:22:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.542[m] 78.232[deg]	[grasp_sample.py: 539]
+05/12 07:22:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:22:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:22:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:22:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:22:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.719[m] 103.067[deg]	[grasp_sample.py: 539]
+05/12 07:22:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:22:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:22:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:22:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:22:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:23:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:23:08 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]
+05/12 07:23:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:23:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:23:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:23:09 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.109[m] 8.638[deg]	[grasp_sample.py: 539]
+05/12 07:23:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:23:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:23:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:23:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:23:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:23:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:23:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:23:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:23:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:23:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:23:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:23:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:24:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:24:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 18.58s (batch: 7.25s, save: 11.33s)	[pipeline.py: 300]
+05/12 07:24:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:15 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
+  episode_total: mean=213.92s, total=213.92s, count=1, min=213919.0ms, max=213919.0ms
+  sensor_polling: mean=427.3ms, total=128.19s, count=300, min=383.6ms, max=810.3ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11331.3ms, max=11331.3ms
+  physics_step: mean=25.8ms, total=7.75s, count=300, min=21.5ms, max=85.1ms
+  save_batch_prep: mean=7.25s, total=7.25s, count=1, min=7251.8ms, max=7251.8ms
+  task_sampling: mean=599.3ms, total=599.3ms, count=1, min=599.3ms, max=599.3ms
+  task_specific_sample: mean=595.2ms, total=595.2ms, count=1, min=595.2ms, max=595.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=457.7us, 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]
+05/12 07:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:24:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:24:17 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]
+05/12 07:24:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:24:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:24:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:24:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:24:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:24:17 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]
+05/12 07:24:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:24:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062874m	[env.py: 870]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:24:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:24:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.116s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.7ms, total=222.8ms	[env.py: 1105]
+05/12 07:24:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 07:24:17 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 07:24:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.784s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:24:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.520[deg]	[grasp_sample.py: 539]
+05/12 07:24:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:24:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:24:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:24:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:24:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:24:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:24:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:24:19 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]
+05/12 07:24:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:24:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075270m	[env.py: 870]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:24:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09002601  1.20592909  0.07527031] yaw=-112.5deg	[env.py: 1019]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91069281  0.38748943  0.07527031] yaw=139.3deg	[env.py: 1019]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7217789   0.47797653  0.07527031] yaw=145.8deg	[env.py: 1019]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:24:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.1ms, total=339.1ms	[env.py: 1075]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 1.206, 0.075)	[env.py: 1079]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.5 deg	[env.py: 1082]
+05/12 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:24:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:24:19 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:24:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:24:19 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]
+05/12 07:24:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:24:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.945s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:24:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 96.921[deg]	[grasp_sample.py: 539]
+05/12 07:24:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:24:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:24:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:24:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:24:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:24:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:24:34 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]
+05/12 07:24:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:24:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:24:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:24:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:24:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.290[deg]	[grasp_sample.py: 539]
+05/12 07:24:38 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:24:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:24:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:24:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:24:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:24:40 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]
+05/12 07:24:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:24:40 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]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010550m	[env.py: 870]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:24:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64342869  0.5630656   0.01054981] yaw=-194.3deg	[env.py: 1019]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01487831  1.17409703  0.01054981] yaw=-138.1deg	[env.py: 1019]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08289492  1.13098613  0.01054981] yaw=-138.5deg	[env.py: 1019]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:24:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=626.2ms, total=626.3ms	[env.py: 1075]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.643, 0.563, 0.011)	[env.py: 1079]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -194.3 deg	[env.py: 1082]
+05/12 07:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:24:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:24:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:24:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:24:41 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]
+05/12 07:24:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:24:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:24:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.167s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:24:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.619[m] 84.212[deg]	[grasp_sample.py: 539]
+05/12 07:24:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:24:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:24:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:24:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:24:44 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:25:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:25:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:25:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:25:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:25:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:25:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:25:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.08s (batch: 4.00s, save: 11.08s)	[pipeline.py: 300]
+05/12 07:25:23 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.51s:
+  episode_total: mean=186.99s, total=186.99s, count=1, min=186985.6ms, max=186985.6ms
+  sensor_polling: mean=435.4ms, total=130.61s, count=300, min=382.3ms, max=826.6ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11082.0ms, max=11082.0ms
+  physics_step: mean=27.0ms, total=8.11s, count=300, min=20.3ms, max=68.3ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.8ms, max=3998.8ms
+  task_sampling: mean=508.9ms, total=508.9ms, count=1, min=508.9ms, max=508.9ms
+  task_specific_sample: mean=504.2ms, total=504.2ms, count=1, min=504.2ms, max=504.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=615.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.7us, 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]
+05/12 07:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:25:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:25:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:25:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:25:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:25:25 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]
+05/12 07:25:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:25:25 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]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087604m	[env.py: 870]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:25:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94397155  0.3613028   0.08760426] yaw=182.3deg	[env.py: 1019]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93026022  0.81099585  0.08760426] yaw=-184.1deg	[env.py: 1019]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:25:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.8ms	[env.py: 1075]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.361, 0.088)	[env.py: 1079]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.3 deg	[env.py: 1082]
+05/12 07:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:25:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:25:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:25:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:25:26 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]
+05/12 07:25:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:25:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:25:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:25:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.334[m] 93.781[deg]	[grasp_sample.py: 539]
+05/12 07:25:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:25:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:25:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:25:36 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 07:25:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.59s:
+  episode_total: mean=197.65s, total=197.65s, count=1, min=197647.2ms, max=197647.2ms
+  sensor_polling: mean=455.8ms, total=136.75s, count=300, min=391.9ms, max=1022.6ms
+  physics_step: mean=26.4ms, total=7.92s, count=300, min=15.4ms, max=54.1ms
+  task_sampling: mean=588.2ms, total=588.2ms, count=1, min=588.2ms, max=588.2ms
+  task_specific_sample: mean=584.3ms, total=584.3ms, count=1, min=584.3ms, max=584.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=450.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:25:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:25:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:25:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:25:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:25:38 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]
+05/12 07:25:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:25:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074613m	[env.py: 870]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:25:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78577664  0.35461869  0.07461347] yaw=164.8deg	[env.py: 1019]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72008533  0.9591751   0.07461347] yaw=-194.0deg	[env.py: 1019]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:25:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=388.9ms, total=389.0ms	[env.py: 1075]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.355, 0.075)	[env.py: 1079]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg	[env.py: 1082]
+05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:25:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:25:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:25:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:25:39 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]
+05/12 07:25:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:25:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:25:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:25:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.447[m] 80.275[deg]	[grasp_sample.py: 539]
+05/12 07:25:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:25:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:25:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:25:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:25:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:25:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:25:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:26:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:26:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:26:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:26:21 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]
+05/12 07:26:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:26:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:26:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:26:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:26:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.279[deg]	[grasp_sample.py: 539]
+05/12 07:26:25 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:26:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:26:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:26:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:26:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:26:27 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]
+05/12 07:26:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:26:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024978m	[env.py: 870]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:26:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67210983  0.85533032  0.02497809] yaw=-126.7deg	[env.py: 1019]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:26:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.0ms, total=229.0ms	[env.py: 1075]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.855, 0.025)	[env.py: 1079]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg	[env.py: 1082]
+05/12 07:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:26:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:26:28 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:26:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:26:28 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]
+05/12 07:26:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:26:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:26:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:26:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.754[m] 87.660[deg]	[grasp_sample.py: 539]
+05/12 07:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:26:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:26:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:26:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:26:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:26:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:26:49 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]
+05/12 07:26:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:26:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:26:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:26:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.420[deg]	[grasp_sample.py: 539]
+05/12 07:26:51 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:26:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:26:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:26:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:26:53 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]
+05/12 07:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:26:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005357m	[env.py: 870]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7229725   0.48470949  0.00535731] yaw=-172.0deg	[env.py: 1019]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11025215  1.09895565  0.00535731] yaw=-111.3deg	[env.py: 1019]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8915442   0.21493625  0.00535731] yaw=200.7deg	[env.py: 1019]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.2ms	[env.py: 1075]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.485, 0.005)	[env.py: 1079]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
+05/12 07:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:26:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:26:53 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:26:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:26:54 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]
+05/12 07:26:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:26:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:26:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:26:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.523[m] 83.190[deg]	[grasp_sample.py: 539]
+05/12 07:26:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:26:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:26:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:26:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:27:05 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:27:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:27:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 07:27:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:27:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:27:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:27:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:27:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.93s (batch: 4.10s, save: 10.83s)	[pipeline.py: 300]
+05/12 07:27:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.52s:
+  episode_total: mean=173.70s, total=347.39s, count=2, min=156396.7ms, max=190996.2ms
+  sensor_polling: mean=441.1ms, total=260.71s, count=591, min=387.9ms, max=1054.5ms
+  physics_step: mean=26.6ms, total=15.70s, count=591, min=20.4ms, max=112.6ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10825.9ms, max=10825.9ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.7ms, max=4104.7ms
+  task_sampling: mean=759.2ms, total=1.52s, count=2, min=541.8ms, max=976.6ms
+  task_specific_sample: mean=755.0ms, total=1.51s, count=2, min=537.8ms, max=972.2ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=447.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=45.5us, 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]
+05/12 07:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:27:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:27:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:27:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:27:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:27:52 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]
+05/12 07:27:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:27:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070535m	[env.py: 870]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:27:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13297887  1.00234724  0.07053543] yaw=-163.8deg	[env.py: 1019]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94864401  0.75074129  0.07053543] yaw=-141.7deg	[env.py: 1019]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:27:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.9ms, total=190.9ms	[env.py: 1075]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.002, 0.071)	[env.py: 1079]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
+05/12 07:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:27:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:27:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:27:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:27:53 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]
+05/12 07:27:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:27:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:27:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 81.059[deg]	[grasp_sample.py: 539]
+05/12 07:27:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:27:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:27:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:27:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:27:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:27:57 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]
+05/12 07:27:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:27:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:27:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:27:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.972[deg]	[grasp_sample.py: 539]
+05/12 07:27:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:27:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:27:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:28:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:28:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:28:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:28:24 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:28:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:28:37 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:28:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:28:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:28:53 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:28:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 07:28:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:29:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:29:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 07:29:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:29:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:29:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:29:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.29s (batch: 4.83s, save: 11.46s)	[pipeline.py: 300]
+05/12 07:29:10 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.74s:
+  episode_total: mean=212.14s, total=212.14s, count=1, min=212135.1ms, max=212135.1ms
+  sensor_polling: mean=468.6ms, total=140.58s, count=300, min=403.1ms, max=1031.7ms
+  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11458.7ms, max=11458.7ms
+  physics_step: mean=28.9ms, total=8.66s, count=300, min=19.8ms, max=60.8ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4832.7ms, max=4832.7ms
+  task_sampling: mean=737.0ms, total=737.0ms, count=1, min=737.0ms, max=737.0ms
+  task_specific_sample: mean=731.5ms, total=731.5ms, count=1, min=731.5ms, max=731.5ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=877.7us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=21.8us, 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]
+05/12 07:29:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:29:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:29:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:29:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:29:11 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]
+05/12 07:29:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:29:11 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]
+05/12 07:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006674m	[env.py: 870]
+05/12 07:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:29:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90088865  0.39967301  0.00667368] yaw=150.9deg	[env.py: 1019]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85710432  0.79864291  0.00667368] yaw=-160.3deg	[env.py: 1019]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95316977  0.69383608  0.00667368] yaw=-160.9deg	[env.py: 1019]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:29:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=292.0ms, total=292.1ms	[env.py: 1075]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.400, 0.007)	[env.py: 1079]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.9 deg	[env.py: 1082]
+05/12 07:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/12 07:29:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:29:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:29:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:29:12 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:29:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:29:12 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]
+05/12 07:29:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:29:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:29:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.809s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:29:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.417[m] 94.088[deg]	[grasp_sample.py: 539]
+05/12 07:29:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:29:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:29:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:29:14 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 07:29:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:29:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:29:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:29:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.47s (batch: 5.43s, save: 11.04s)	[pipeline.py: 300]
+05/12 07:29:23 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.27s:
+  episode_total: mean=100.92s, total=302.77s, count=3, min=240.6ms, max=176032.7ms
+  sensor_polling: mean=397.1ms, total=217.21s, count=547, min=361.9ms, max=753.7ms
+  physics_step: mean=23.0ms, total=12.58s, count=547, min=16.6ms, max=31.1ms
+  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11040.5ms, max=11040.5ms
+  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5430.2ms, max=5430.2ms
+  task_specific_sample: mean=497.7ms, total=1.49s, count=3, min=231.3ms, max=656.6ms
+  task_sampling: mean=634.7ms, total=1.27s, count=2, min=608.2ms, max=661.3ms
+  task_sampling_failed: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms
+  scene_randomize: mean=2.8ms, total=8.4ms, count=3, min=1.3ms, max=5.7ms
+  mj_forward_sync: mean=457.3us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:29:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:29:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:29:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:29:26 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]
+05/12 07:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:29:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092464m	[env.py: 870]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83156619  0.04749167  0.09246419] yaw=128.5deg	[env.py: 1019]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84575772  0.85841082  0.09246419] yaw=-189.5deg	[env.py: 1019]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:29:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms	[env.py: 1075]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.047, 0.092)	[env.py: 1079]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.5 deg	[env.py: 1082]
+05/12 07:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:29:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:29:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:29:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:29:27 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]
+05/12 07:29:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:29:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:29:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.164s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:29:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.599[m] 101.424[deg]	[grasp_sample.py: 539]
+05/12 07:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:29:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:29:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:29:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 07:29:43 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/12 07:29:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 07:29:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 07:29:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:29:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 07:29:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_008	[save_utils.py: 785]
+05/12 07:29:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.52s (batch: 4.50s, save: 11.02s)	[pipeline.py: 300]
+05/12 07:30:00 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
+  episode_total: mean=136.37s, total=272.75s, count=2, min=86185.9ms, max=186564.1ms
+  sensor_polling: mean=423.6ms, total=194.01s, count=458, min=372.4ms, max=873.8ms
+  physics_step: mean=25.9ms, total=11.84s, count=458, min=17.3ms, max=42.0ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11024.0ms, max=11024.0ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4498.5ms, max=4498.5ms
+  task_sampling: mean=475.1ms, total=950.1ms, count=2, min=443.2ms, max=506.9ms
+  task_specific_sample: mean=470.9ms, total=941.7ms, count=2, min=438.3ms, max=503.4ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=455.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 07:30:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:30:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:30:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:30:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:30:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:30:01 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]
+05/12 07:30:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:30:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016481m	[env.py: 870]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:30:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13542194  1.05808145  0.01648118] yaw=-133.1deg	[env.py: 1019]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95985721  0.2280873   0.01648118] yaw=154.6deg	[env.py: 1019]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61507523  0.64558717  0.01648118] yaw=-204.7deg	[env.py: 1019]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:30:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.1ms, total=87.1ms	[env.py: 1075]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.058, 0.016)	[env.py: 1079]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/12 07:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:30:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:30:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:30:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:30:02 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]
+05/12 07:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:30:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:30:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:30:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.367[m] 90.303[deg]	[grasp_sample.py: 539]
+05/12 07:30:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:30:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:30:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:30:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 07:30:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 07:30:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 07:30:24 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]
+05/12 07:30:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:30:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:30:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.240s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:30:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.864[deg]	[grasp_sample.py: 539]
+05/12 07:30:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 07:30:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 07:30:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 07:30:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:30:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 07:30:30 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]
+05/12 07:30:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 07:30:30 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]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027417m	[env.py: 870]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 07:30:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94891314  1.16409031  0.02741652] yaw=-167.7deg	[env.py: 1019]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70424361  0.93685362  0.02741652] yaw=-190.9deg	[env.py: 1019]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 07:30:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6765795   0.40638499  0.02741652] yaw=161.8deg	[env.py: 1019]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 07:30:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.8ms, total=323.9ms	[env.py: 1075]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 1.164, 0.027)	[env.py: 1079]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg	[env.py: 1082]
+05/12 07:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 07:30:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 07:30:31 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 07:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/12 07:30:31 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]
+05/12 07:30:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 07:30:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 07:30:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 07:30:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.704[m] 97.475[deg]	[grasp_sample.py: 539]
+05/12 07:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 07:30:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:30:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 07:30:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:30:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 07:30:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 07:30:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
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