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+05/15 02:47:15 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:47:15 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:47:15 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:47:15 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                'reference_body_names': ['robot_0/fr3_link0'],
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+                                'up_axis': 'z',
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+                   'img_resolution': (1280, 720)},
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+ 'config_version': '0.1',
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+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  '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': 40904,
+ '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': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         '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': 0.5,
+                         '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]
+05/15 02:47:15 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]
+05/15 02:47:15 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:47:15 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:47:15 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:47:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:47:16 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:47:16 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:47:16 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_v2/sim_chunks/chunk_109'),
+ '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 0x719aebcce510>,
+ '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': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  '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': 40902,
+ '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': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         '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': 0.5,
+                         '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]
+05/15 02:47:16 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]
+05/15 02:47:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:47:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:47:16 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:47:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:47:16 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:47:16 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:47:16 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_v2/sim_chunks/chunk_109'),
+ '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 0x736331598850>,
+ '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': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  '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': 40901,
+ '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': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         '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': 0.5,
+                         '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]
+05/15 02:47:16 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]
+05/15 02:47:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:47:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:47:17 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:47:18 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:47:18 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:47:18 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:47:18 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:47:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:47:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:47:18 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: 195]
+05/15 02:47:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:47:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070849m	[env.py: 870]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:47:18 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08481832 -0.5448366  -0.0708494 ] yaw=-168.9deg	[env.py: 1019]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00559219 -0.92827462 -0.0708494 ] yaw=191.4deg	[env.py: 1019]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:18 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:47:18 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:47:18 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:47:18 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_v2/sim_chunks/chunk_109'),
+ '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 0x7baca37a0850>,
+ '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': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  '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': 40903,
+ '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': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         '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': 0.5,
+                         '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]
+05/15 02:47:18 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]
+05/15 02:47:18 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:47:18 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17496133 -1.24336137 -0.0708494 ] yaw=174.1deg	[env.py: 1019]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:47:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=208.0ms, total=229.1ms	[env.py: 1075]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.085, -0.545, -0.071)	[env.py: 1079]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
+05/15 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.190m	[env.py: 1086]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:47:18 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:47:18 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:47:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:47:19 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:47:19 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:47:19 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:47:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:47:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:47:19 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: 195]
+05/15 02:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039379m	[env.py: 870]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:47:19 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09415486 -0.93293901 -0.03937853] yaw=169.8deg	[env.py: 1019]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=21.2ms, retries=169.2ms, total=190.5ms	[env.py: 1075]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.094, -0.933, -0.039)	[env.py: 1079]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
+05/15 02:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:47:19 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:47:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:47:19 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:47:19 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:47:19 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:47:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:47:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:47:20 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: 195]
+05/15 02:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069500m	[env.py: 870]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:47:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18478323 -0.40057131 -0.06950035] yaw=-136.7deg	[env.py: 1019]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.13590678 -1.28935641 -0.06950035] yaw=174.8deg	[env.py: 1019]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.23903483 -0.14134832 -0.06950035] yaw=-144.9deg	[env.py: 1019]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=199.7ms, total=220.7ms	[env.py: 1075]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.185, -0.401, -0.070)	[env.py: 1079]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg	[env.py: 1082]
+05/15 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/15 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:47:20 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:47:21 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:47:21 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:47:21 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:47:21 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:47:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:47:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:47:21 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: 195]
+05/15 02:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.075m, effective arm-mount z=0.785m (base_body_z=-0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074790m	[env.py: 870]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:47:21 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.28922892 -0.62511798 -0.07478991] yaw=-150.7deg	[env.py: 1019]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42649052  0.15186508 -0.07478991] yaw=-113.0deg	[env.py: 1019]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13281742 -1.07096205 -0.07478991] yaw=174.1deg	[env.py: 1019]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=20.8ms, retries=86.7ms, total=107.5ms	[env.py: 1075]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.289, -0.625, -0.075)	[env.py: 1079]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
+05/15 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:47:21 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:47:53 INFO: [Worker 0] Warmed up parallel IK solver in 34.360s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:47:53 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]
+05/15 02:47:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:47:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:47:54 INFO: [Worker 0] Warmed up parallel IK solver in 34.707s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:47:54 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]
+05/15 02:47:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:47:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:47:55 INFO: [Worker 0] Warmed up parallel IK solver in 34.546s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:47:55 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]
+05/15 02:47:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:47:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:47:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.767s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:47:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.435[m] 84.709[deg]	[grasp_sample.py: 539]
+05/15 02:47:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:47:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.334s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:47:55 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:47:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:47:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:47:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 35.314s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:47:57 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]
+05/15 02:47:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:47:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:47:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:47:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:47:57 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: 195]
+05/15 02:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:47:57 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: 273]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047654m	[env.py: 870]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03742602 -0.94314744  0.04765409] yaw=170.4deg	[env.py: 1019]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.08838703 -0.87793438  0.04765409] yaw=165.5deg	[env.py: 1019]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:47:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:47:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 95.510[deg]	[grasp_sample.py: 539]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.0ms, total=267.1ms	[env.py: 1075]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.037, -0.943, 0.048)	[env.py: 1079]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
+05/15 02:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.119m	[env.py: 1086]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:47:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:47:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:47:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:47:57 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]
+05/15 02:47:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:47:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:47:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.378[m] 107.619[deg]	[grasp_sample.py: 539]
+05/15 02:47:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:47:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:47:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:47:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:47:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:47:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:47:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:47:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:48:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:48:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.741[m] 84.539[deg]	[grasp_sample.py: 539]
+05/15 02:48:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:48:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:48:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:48:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:48:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:48:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:48:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:48:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:48:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:48:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:48:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:49:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:49:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:49:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:49:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:50:10 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:50:13 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:50:17 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:50:24 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:50:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:50:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:50:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:50:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:50:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:50:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:50:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:50:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:50:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:50:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:50:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:50:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:50:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:50:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:50:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.50s (batch: 3.26s, save: 11.24s)	[pipeline.py: 300]
+05/15 02:50:46 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.37s:
+  episode_total: mean=104.95s, total=209.91s, count=2, min=40620.7ms, max=169286.8ms
+  sensor_polling: mean=400.7ms, total=120.21s, count=300, min=381.3ms, max=574.0ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11240.8ms, max=11240.8ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=17.0ms, max=35.4ms
+  task_sampling: mean=2.18s, total=4.37s, count=2, min=520.6ms, max=3844.8ms
+  scene_load: mean=3.34s, total=3.34s, count=1, min=3340.5ms, max=3340.5ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3257.9ms, max=3257.9ms
+  scene_env_create: mean=2.07s, total=2.07s, count=1, min=2065.9ms, max=2065.9ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1093.6ms, max=1093.6ms
+  task_specific_sample: mean=509.7ms, total=1.02s, count=2, min=501.4ms, max=518.0ms
+  compile_mujoco: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
+  compile_xml_load: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
+  scene_init: mean=120.5ms, total=120.5ms, count=1, min=120.5ms, max=120.5ms
+  scene_asset_install: mean=60.3ms, total=60.3ms, count=1, min=60.3ms, max=60.3ms
+  compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  compile_robot_add: mean=18.4ms, total=18.4ms, count=1, min=18.4ms, max=18.4ms
+  asset_install_objects: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.3ms
+  mj_forward_sync: mean=460.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:50:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:47 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: 195]
+05/15 02:50:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050176m	[env.py: 870]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01831629 -1.10239735 -0.05017626] yaw=188.3deg	[env.py: 1019]
+05/15 02:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30692627 -0.15327815 -0.05017626] yaw=-160.9deg	[env.py: 1019]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06692794 -0.55771483 -0.05017626] yaw=-179.7deg	[env.py: 1019]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:50:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.2ms, total=163.3ms	[env.py: 1075]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.018, -1.102, -0.050)	[env.py: 1079]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.3 deg	[env.py: 1082]
+05/15 02:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/15 02:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:50:48 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:50:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:50:48 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]
+05/15 02:50:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:50:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:50:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:50:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:50:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.63s (batch: 3.54s, save: 11.09s)	[pipeline.py: 300]
+05/15 02:50:49 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.50s:
+  episode_total: mean=212.56s, total=212.56s, count=1, min=212562.7ms, max=212562.7ms
+  sensor_polling: mean=420.2ms, total=126.07s, count=300, min=386.2ms, max=582.5ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.0ms, max=11089.0ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=18.5ms, max=39.8ms
+  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3541.5ms, max=3541.5ms
+  task_sampling: mean=3.50s, total=3.50s, count=1, min=3496.1ms, max=3496.1ms
+  scene_load: mean=3.00s, total=3.00s, count=1, min=2996.7ms, max=2996.7ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1882.5ms, max=1882.5ms
+  scene_compile: mean=892.1ms, total=892.1ms, count=1, min=892.1ms, max=892.1ms
+  compile_mujoco: mean=609.7ms, total=609.7ms, count=1, min=609.7ms, max=609.7ms
+  task_specific_sample: mean=496.2ms, total=496.2ms, count=1, min=496.2ms, max=496.2ms
+  compile_xml_load: mean=211.1ms, total=211.1ms, count=1, min=211.1ms, max=211.1ms
+  scene_init: mean=116.3ms, total=116.3ms, count=1, min=116.3ms, max=116.3ms
+  scene_asset_install: mean=105.4ms, total=105.4ms, count=1, min=105.4ms, max=105.4ms
+  asset_install_grasps: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_objects: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  asset_install_scene: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=441.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=41.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:50:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:51 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: 195]
+05/15 02:50:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.095m, effective arm-mount z=0.765m (base_body_z=-0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094921m	[env.py: 870]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04925931 -0.4418809  -0.09492138] yaw=-141.4deg	[env.py: 1019]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:50:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.790[m] 106.518[deg]	[grasp_sample.py: 539]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.01027707 -1.14022762 -0.09492138] yaw=171.7deg	[env.py: 1019]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:50:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=151.0ms, total=151.0ms	[env.py: 1075]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.049, -0.442, -0.095)	[env.py: 1079]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.4 deg	[env.py: 1082]
+05/15 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.184m	[env.py: 1086]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:50:51 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:50:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:50:51 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]
+05/15 02:50:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:50:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:50:52 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:50:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:50:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:50:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.13s (batch: 2.83s, save: 11.30s)	[pipeline.py: 300]
+05/15 02:50:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:53 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: 195]
+05/15 02:50:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046896m	[env.py: 870]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06383437 -0.73854481  0.04689565] yaw=-201.1deg	[env.py: 1019]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:50:53 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.14s:
+  episode_total: mean=215.21s, total=215.21s, count=1, min=215206.5ms, max=215206.5ms
+  sensor_polling: mean=427.6ms, total=128.29s, count=300, min=377.6ms, max=557.3ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11299.9ms, max=11299.9ms
+  physics_step: mean=27.7ms, total=8.31s, count=300, min=18.3ms, max=35.4ms
+  task_sampling: mean=3.14s, total=3.14s, count=1, min=3136.4ms, max=3136.4ms
+  save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2835.0ms, max=2835.0ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2770.9ms, max=2770.9ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.4ms, max=1668.4ms
+  scene_compile: mean=918.3ms, total=918.3ms, count=1, min=918.3ms, max=918.3ms
+  compile_mujoco: mean=635.6ms, total=635.6ms, count=1, min=635.6ms, max=635.6ms
+  task_specific_sample: mean=362.8ms, total=362.8ms, count=1, min=362.8ms, max=362.8ms
+  compile_xml_load: mean=203.1ms, total=203.1ms, count=1, min=203.1ms, max=203.1ms
+  scene_init: mean=115.3ms, total=115.3ms, count=1, min=115.3ms, max=115.3ms
+  scene_asset_install: mean=68.6ms, total=68.6ms, count=1, min=68.6ms, max=68.6ms
+  compile_aux_objects: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  compile_aux_policy_objects: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  asset_install_grasps: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=451.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06276418 -0.99292005  0.04689565] yaw=158.3deg	[env.py: 1019]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.36252259 -0.16444283  0.04689565] yaw=-136.4deg	[env.py: 1019]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:50:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.0ms, total=101.0ms	[env.py: 1075]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.064, -0.739, 0.047)	[env.py: 1079]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.1 deg	[env.py: 1082]
+05/15 02:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.499s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:50:54 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:50:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:50:54 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:50:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:50:54 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]
+05/15 02:50:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:50:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:50:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:55 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: 195]
+05/15 02:50:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014259m	[env.py: 870]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.35600635 -0.03713045  0.01425902] yaw=-156.0deg	[env.py: 1019]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.11396887 -1.22134262  0.01425902] yaw=184.5deg	[env.py: 1019]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:50:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.2ms	[env.py: 1075]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.356, -0.037, 0.014)	[env.py: 1079]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:55 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: 195]
+05/15 02:50:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:55 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: 273]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016256m	[env.py: 870]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:50:55 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19481579 -0.08190957  0.01625613] yaw=-152.3deg	[env.py: 1019]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05981211 -1.05684384  0.01625613] yaw=145.4deg	[env.py: 1019]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:50:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:50:55 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]
+05/15 02:50:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:50:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=426.6ms, total=426.7ms	[env.py: 1075]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.195, -0.082, 0.016)	[env.py: 1079]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/15 02:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.146m	[env.py: 1086]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.147s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:50:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:50:56 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:50:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:50:56 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]
+05/15 02:50:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:50:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:50:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.597s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:50:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.710[m] 110.325[deg]	[grasp_sample.py: 539]
+05/15 02:50:58 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:50:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.519s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:50:58 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:50:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.586s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:50:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:50:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:50:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:50:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.11s (batch: 2.84s, save: 11.27s)	[pipeline.py: 300]
+05/15 02:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:59 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: 195]
+05/15 02:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:59 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: 273]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094046m	[env.py: 870]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.53450451 -0.04109723  0.09404572] yaw=-132.6deg	[env.py: 1019]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03517021 -1.03813458  0.09404572] yaw=174.9deg	[env.py: 1019]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.29532127 -1.08108549  0.09404572] yaw=133.9deg	[env.py: 1019]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.2ms	[env.py: 1075]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.535, -0.041, 0.094)	[env.py: 1079]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.6 deg	[env.py: 1082]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:50:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:50:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:50:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:50:59 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: 195]
+05/15 02:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:50:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079026m	[env.py: 870]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:50:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:50:59 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.14996362 -0.35928918  0.07902586] yaw=-181.4deg	[env.py: 1019]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2038565  -0.37070666  0.07902586] yaw=-154.6deg	[env.py: 1019]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:00 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]
+05/15 02:51:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.16991149 -0.44640977  0.07902586] yaw=-166.2deg	[env.py: 1019]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.6ms	[env.py: 1075]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.150, -0.359, 0.079)	[env.py: 1079]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.4 deg	[env.py: 1082]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:00 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.36s:
+  episode_total: mean=223.51s, total=223.51s, count=1, min=223505.0ms, max=223505.0ms
+  sensor_polling: mean=405.7ms, total=121.70s, count=300, min=375.1ms, max=606.3ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11274.6ms, max=11274.6ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=21.5ms, max=35.9ms
+  task_sampling: mean=3.36s, total=3.36s, count=1, min=3363.2ms, max=3363.2ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2899.3ms, max=2899.3ms
+  save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2839.5ms, max=2839.5ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1804.5ms, max=1804.5ms
+  scene_compile: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
+  compile_mujoco: mean=665.6ms, total=665.6ms, count=1, min=665.6ms, max=665.6ms
+  task_specific_sample: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
+  compile_xml_load: mean=186.0ms, total=186.0ms, count=1, min=186.0ms, max=186.0ms
+  scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms
+  compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  scene_asset_install: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=37.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:51:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:00 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]
+05/15 02:51:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:51:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:51:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:51:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:51:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:51:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066271m	[env.py: 870]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:51:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01130747 -1.32001065  0.0662713 ] yaw=153.0deg	[env.py: 1019]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.4808539  -0.14994436  0.0662713 ] yaw=-140.8deg	[env.py: 1019]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.56786847 -0.09199517  0.0662713 ] yaw=-122.7deg	[env.py: 1019]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.0ms, total=204.1ms	[env.py: 1075]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.011, -1.320, 0.066)	[env.py: 1079]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg	[env.py: 1082]
+05/15 02:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.176m	[env.py: 1086]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:00 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:51:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 69.517[deg]	[grasp_sample.py: 539]
+05/15 02:51:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:51:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:00 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]
+05/15 02:51:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:51:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:51:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:51:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:51:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:51:01 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: 195]
+05/15 02:51:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:51:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005259m	[env.py: 870]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:51:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05079172 -0.67198713 -0.00525897] yaw=-167.4deg	[env.py: 1019]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08510069 -0.8472008  -0.00525897] yaw=158.9deg	[env.py: 1019]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23753874 -0.28779088 -0.00525897] yaw=-165.3deg	[env.py: 1019]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.6ms, total=105.6ms	[env.py: 1075]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.051, -0.672, -0.005)	[env.py: 1079]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
+05/15 02:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.134m	[env.py: 1086]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:02 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:02 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]
+05/15 02:51:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.083s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:51:03 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:51:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.845s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:51:04 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.884[m] 112.866[deg]	[grasp_sample.py: 539]
+05/15 02:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:51:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:51:04 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: 195]
+05/15 02:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:51:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057029m	[env.py: 870]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08396154 -0.79130346  0.05702911] yaw=-173.9deg	[env.py: 1019]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19125829 -1.28967108  0.05702911] yaw=156.5deg	[env.py: 1019]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.29509336 -0.0450631   0.05702911] yaw=-139.8deg	[env.py: 1019]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=135.5ms, total=135.5ms	[env.py: 1075]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.084, -0.791, 0.057)	[env.py: 1079]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg	[env.py: 1082]
+05/15 02:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.159m	[env.py: 1086]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.705s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:51:04 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:51:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:05 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:05 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]
+05/15 02:51:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:05 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:51:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:51:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:51:06 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: 195]
+05/15 02:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031353m	[env.py: 870]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.52748793 -0.21247666 -0.03135278] yaw=-151.6deg	[env.py: 1019]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.3ms, total=234.4ms	[env.py: 1075]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.527, -0.212, -0.031)	[env.py: 1079]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
+05/15 02:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:06 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:06 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]
+05/15 02:51:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:51:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:51:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:51:07 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: 195]
+05/15 02:51:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:51:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014010m	[env.py: 870]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:51:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33847625 -0.17074793  0.01400974] yaw=-127.1deg	[env.py: 1019]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21010621 -0.83450555  0.01400974] yaw=160.1deg	[env.py: 1019]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.365s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:51:07 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.3539238  -0.22561703  0.01400974] yaw=-148.3deg	[env.py: 1019]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=345.7ms, total=345.8ms	[env.py: 1075]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.338, -0.171, 0.014)	[env.py: 1079]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg	[env.py: 1082]
+05/15 02:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:51:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.651[m] 94.201[deg]	[grasp_sample.py: 539]
+05/15 02:51:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:51:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:07 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:07 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]
+05/15 02:51:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:51:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:51:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:51:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:51:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:51:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:51:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023245m	[env.py: 870]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0769026  -1.22715953  0.0232451 ] yaw=130.0deg	[env.py: 1019]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=182.7ms, total=182.7ms	[env.py: 1075]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.077, -1.227, 0.023)	[env.py: 1079]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.0 deg	[env.py: 1082]
+05/15 02:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:51:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:51:09 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:51:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:51:09 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]
+05/15 02:51:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:51:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:51:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.770s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:51:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 110.922[deg]	[grasp_sample.py: 539]
+05/15 02:51:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:51:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:51:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:51:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:51:14 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.610[m] 88.580[deg]	[grasp_sample.py: 539]
+05/15 02:51:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:51:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:51:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:51:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:51:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:52:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:52:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:52:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:52:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:52:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:52:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:52:53 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]
+05/15 02:52:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:52:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:52:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.263s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:52:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.368[deg]	[grasp_sample.py: 539]
+05/15 02:52:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:52:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:52:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:52:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:52:58 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: 195]
+05/15 02:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099129m	[env.py: 870]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03567529 -0.90335165 -0.09912936] yaw=172.7deg	[env.py: 1019]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19404045 -0.70013597 -0.09912936] yaw=-170.5deg	[env.py: 1019]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.4ms, total=174.4ms	[env.py: 1075]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.036, -0.903, -0.099)	[env.py: 1079]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/15 02:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:52:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:52:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:52:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:52:59 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]
+05/15 02:52:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:52:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:53:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.827s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:53:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.740[m] 105.772[deg]	[grasp_sample.py: 539]
+05/15 02:53:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:53:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:53:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:53:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:53:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:53:14 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]
+05/15 02:53:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:53:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:53:15 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:53:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.060[m] 33.640[deg]	[grasp_sample.py: 539]
+05/15 02:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:53:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:53:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:32 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:53:32 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.86s:
+  episode_total: mean=74.56s, total=149.13s, count=2, min=3257.8ms, max=145868.6ms
+  sensor_polling: mean=401.3ms, total=120.38s, count=300, min=370.5ms, max=585.6ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=21.6ms, max=33.1ms
+  task_sampling: mean=430.0ms, total=860.0ms, count=2, min=380.4ms, max=479.7ms
+  task_specific_sample: mean=426.2ms, total=852.4ms, count=2, min=375.6ms, max=476.8ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=594.5us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=20.2us, 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]
+05/15 02:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:53:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:53:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:53:32 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]
+05/15 02:53:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:53:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:53:33 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:53:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:53:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:53:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:53:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:53:33 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: 195]
+05/15 02:53:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:53:33 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: 273]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026449m	[env.py: 870]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:53:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.30314961  0.09520526  0.02644905] yaw=-133.4deg	[env.py: 1019]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10352839 -0.96019031  0.02644905] yaw=159.2deg	[env.py: 1019]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23158583 -1.24071119  0.02644905] yaw=131.6deg	[env.py: 1019]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:53:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.6ms, total=79.6ms	[env.py: 1075]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.303, 0.095, 0.026)	[env.py: 1079]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
+05/15 02:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m	[env.py: 1086]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:53:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:53:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:53:34 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:53:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:53:34 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]
+05/15 02:53:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:53:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:53:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.486s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:53:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.253[deg]	[grasp_sample.py: 539]
+05/15 02:53:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:53:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:53:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:53:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.074s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:53:36 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:53:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:53:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:53:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:53:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:53:38 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: 195]
+05/15 02:53:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:53:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000286m	[env.py: 870]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:53:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-5.21257601e-02 -9.75395200e-01 -2.86036156e-04] yaw=177.7deg	[env.py: 1019]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 137.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.28142117e-01 -1.22561774e+00 -2.86036156e-04] yaw=159.3deg	[env.py: 1019]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-2.71471253e-02 -1.02536478e+00 -2.86036156e-04] yaw=141.0deg	[env.py: 1019]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:53:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.6ms	[env.py: 1075]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.052, -0.975, -0.000)	[env.py: 1079]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg	[env.py: 1082]
+05/15 02:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:53:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:53:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:53:38 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:53:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:53:38 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]
+05/15 02:53:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:53:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:53:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.097s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:53:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.706[m] 81.382[deg]	[grasp_sample.py: 539]
+05/15 02:53:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:53:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:53:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:53:53 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:53:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:53:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:53:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:53:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:53:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:54:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:54:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:54:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.81s (batch: 2.95s, save: 10.85s)	[pipeline.py: 300]
+05/15 02:54:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:54:08 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=2.41s:
+  episode_total: mean=38.23s, total=191.16s, count=5, min=2677.7ms, max=179052.3ms
+  sensor_polling: mean=403.2ms, total=120.97s, count=300, min=384.2ms, max=619.1ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10854.1ms, max=10854.1ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=17.0ms, max=30.7ms
+  save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2950.9ms, max=2950.9ms
+  task_sampling: mean=481.7ms, total=2.41s, count=5, min=393.1ms, max=719.9ms
+  task_specific_sample: mean=478.6ms, total=2.39s, count=5, min=390.2ms, max=716.1ms
+  scene_randomize: mean=1.6ms, total=8.1ms, count=5, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=517.7us, total=2.6ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:54:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:54:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:54:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:54:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:54:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:54:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034700m	[env.py: 870]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:54:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.46726498 -0.07116014 -0.03469991] yaw=-128.1deg	[env.py: 1019]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23206506 -0.44378134 -0.03469991] yaw=-175.3deg	[env.py: 1019]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.31805611 -0.04933712 -0.03469991] yaw=-111.8deg	[env.py: 1019]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:54:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.6ms, total=192.7ms	[env.py: 1075]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.467, -0.071, -0.035)	[env.py: 1079]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.1 deg	[env.py: 1082]
+05/15 02:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:54:09 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:54:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:54:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:54:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:54:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:54:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:54:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:54:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.74s (batch: 3.07s, save: 10.68s)	[pipeline.py: 300]
+05/15 02:54:12 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.42s:
+  episode_total: mean=64.79s, total=194.38s, count=3, min=3294.6ms, max=185357.2ms
+  sensor_polling: mean=417.1ms, total=125.13s, count=300, min=371.9ms, max=567.0ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10677.5ms, max=10677.5ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.3ms, max=36.5ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3067.1ms, max=3067.1ms
+  task_sampling: mean=472.8ms, total=1.42s, count=3, min=362.8ms, max=587.9ms
+  task_specific_sample: mean=469.6ms, total=1.41s, count=3, min=360.0ms, max=585.5ms
+  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=567.2us, total=1.7ms, count=3, min=0.5ms, max=0.8ms
+  policy_setup: mean=19.5us, 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]
+05/15 02:54:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:54:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.737[m] 122.734[deg]	[grasp_sample.py: 539]
+05/15 02:54:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:54:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:54:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:54:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:54:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:54:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:54:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:54:14 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: 195]
+05/15 02:54:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:54:14 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: 273]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073428m	[env.py: 870]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:54:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04307704 -0.93161255  0.07342828] yaw=201.2deg	[env.py: 1019]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.1725344  -1.1205487   0.07342828] yaw=169.8deg	[env.py: 1019]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24068738 -0.62643354  0.07342828] yaw=-184.8deg	[env.py: 1019]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:54:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.3ms, total=105.4ms	[env.py: 1075]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.043, -0.932, 0.073)	[env.py: 1079]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.2 deg	[env.py: 1082]
+05/15 02:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.123m	[env.py: 1086]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:54:14 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:54:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:54:14 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]
+05/15 02:54:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:54:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:54:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.216s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:54:16 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:54:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:54:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:54:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:54:18 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: 195]
+05/15 02:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:54:18 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: 273]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037541m	[env.py: 870]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25123914 -0.10287943  0.03754128] yaw=-153.6deg	[env.py: 1019]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:54:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=154.5ms, total=154.6ms	[env.py: 1075]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.251, -0.103, 0.038)	[env.py: 1079]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg	[env.py: 1082]
+05/15 02:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:54:18 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:54:18 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]
+05/15 02:54:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:54:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:54:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:54:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.671s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:54:21 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:54:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:54:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:54:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:54:22 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: 195]
+05/15 02:54:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:54:22 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: 273]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019710m	[env.py: 870]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:54:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.52365065 -0.07134143  0.01971044] yaw=-148.8deg	[env.py: 1019]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19193435 -0.54622718  0.01971044] yaw=-161.9deg	[env.py: 1019]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08941466 -1.1025473   0.01971044] yaw=139.5deg	[env.py: 1019]
+05/15 02:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.6ms, total=150.7ms	[env.py: 1075]
+05/15 02:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.524, -0.071, 0.020)	[env.py: 1079]
+05/15 02:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.8 deg	[env.py: 1082]
+05/15 02:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/15 02:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:54:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:54:23 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:54:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:54:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:54:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:54:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:54:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.926s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:54:27 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.641[m] 124.132[deg]	[grasp_sample.py: 539]
+05/15 02:54:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:54:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:54:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:54:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:54:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:54:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:54:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:55:19 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:55:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:55:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:55:24 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]
+05/15 02:55:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:55:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:55:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:55:26 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.125[m] 23.340[deg]	[grasp_sample.py: 539]
+05/15 02:55:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:55:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:55:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:55:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:55:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:55:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:55:37 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]
+05/15 02:55:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:55:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:55:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:55:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:55:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:55:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.198s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:55:39 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.121[m] 20.956[deg]	[grasp_sample.py: 539]
+05/15 02:55:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:55:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:55:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:55:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:55:49 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]
+05/15 02:55:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:55:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:55:50 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:55:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.256s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:55:51 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.121[m] 23.732[deg]	[grasp_sample.py: 539]
+05/15 02:55:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:55:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:55:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:55:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:55:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:55:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.30s (batch: 3.27s, save: 11.02s)	[pipeline.py: 300]
+05/15 02:55:54 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.56s:
+  episode_total: mean=75.53s, total=302.12s, count=4, min=4464.2ms, max=175681.9ms
+  sensor_polling: mean=426.7ms, total=222.72s, count=522, min=370.1ms, max=643.6ms
+  physics_step: mean=26.5ms, total=13.83s, count=522, min=16.8ms, max=46.0ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11022.8ms, max=11022.8ms
+  save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3273.0ms, max=3273.0ms
+  task_sampling: mean=389.1ms, total=1.56s, count=4, min=343.7ms, max=425.4ms
+  task_specific_sample: mean=386.1ms, total=1.54s, count=4, min=340.9ms, max=421.2ms
+  scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=447.5us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:55:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:55:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:55:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:55:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:55:55 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: 195]
+05/15 02:55:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:55:55 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: 273]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049135m	[env.py: 870]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:55:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11048481 -0.72924749  0.04913549] yaw=-157.0deg	[env.py: 1019]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.17263891 -1.02526123  0.04913549] yaw=149.8deg	[env.py: 1019]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.5835583  -0.12008798  0.04913549] yaw=-122.4deg	[env.py: 1019]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:55:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.1ms, total=110.1ms	[env.py: 1075]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.110, -0.729, 0.049)	[env.py: 1079]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg	[env.py: 1082]
+05/15 02:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:55:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:55:56 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:55:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:55:56 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]
+05/15 02:55:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:55:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:56:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:56:02 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.659[m] 102.676[deg]	[grasp_sample.py: 539]
+05/15 02:56:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:56:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:56:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:56:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:56:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:56:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:56:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:56:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:56:16 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 02:56:16 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:56:16 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=1.19s:
+  episode_total: mean=39.89s, total=119.68s, count=3, min=2836.8ms, max=113649.4ms
+  sensor_polling: mean=395.5ms, total=94.52s, count=239, min=363.3ms, max=688.1ms
+  physics_step: mean=23.2ms, total=5.54s, count=239, min=16.9ms, max=36.5ms
+  task_sampling: mean=397.1ms, total=1.19s, count=3, min=380.8ms, max=422.6ms
+  task_specific_sample: mean=394.1ms, total=1.18s, count=3, min=378.0ms, max=418.7ms
+  scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=459.3us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  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]
+05/15 02:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:56:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:56:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:56:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:56:17 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: 195]
+05/15 02:56:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:56:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070549m	[env.py: 870]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:56:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.286724   -1.23051679 -0.07054901] yaw=161.4deg	[env.py: 1019]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22328337 -0.52462468 -0.07054901] yaw=-189.7deg	[env.py: 1019]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08460145 -0.50213092 -0.07054901] yaw=-147.8deg	[env.py: 1019]
+05/15 02:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:56:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.6ms, total=88.6ms	[env.py: 1075]
+05/15 02:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.287, -1.231, -0.071)	[env.py: 1079]
+05/15 02:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
+05/15 02:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/15 02:56:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:56:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:56:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:56:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:56:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:56:18 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]
+05/15 02:56:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:56:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.031s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:56:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.347[m] 77.236[deg]	[grasp_sample.py: 539]
+05/15 02:56:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:56:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:56:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:56:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:56:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:56:22 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]
+05/15 02:56:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:56:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:56:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:56:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:56:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.50s (batch: 3.00s, save: 10.50s)	[pipeline.py: 300]
+05/15 02:56:24 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.76s:
+  episode_total: mean=84.22s, total=168.44s, count=2, min=2552.6ms, max=165885.5ms
+  sensor_polling: mean=402.9ms, total=120.87s, count=300, min=375.4ms, max=662.2ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10504.8ms, max=10504.8ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=16.8ms, max=37.5ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2997.4ms, max=2997.4ms
+  task_sampling: mean=381.5ms, total=763.1ms, count=2, min=336.7ms, max=426.4ms
+  task_specific_sample: mean=376.3ms, total=752.6ms, count=2, min=333.4ms, max=419.2ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=447.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:56:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.299s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:56:24 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:56:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:56:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:56:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:56:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:56:25 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: 195]
+05/15 02:56:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:56:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084367m	[env.py: 870]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:56:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01834605 -0.96797445  0.08436675] yaw=178.3deg	[env.py: 1019]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:56:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms	[env.py: 1075]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.018, -0.968, 0.084)	[env.py: 1079]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg	[env.py: 1082]
+05/15 02:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:56:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:56:25 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:56:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:56:26 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]
+05/15 02:56:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:56:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:56:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:56:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:56:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:56:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:56:26 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: 195]
+05/15 02:56:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:56:26 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: 273]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098678m	[env.py: 870]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:56:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17217063 -1.08178243  0.09867831] yaw=173.6deg	[env.py: 1019]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:56:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.9ms, total=179.9ms	[env.py: 1075]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.172, -1.082, 0.099)	[env.py: 1079]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.6 deg	[env.py: 1082]
+05/15 02:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:56:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:56:26 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:56:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:56:26 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]
+05/15 02:56:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:56:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:56:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:56:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.718[m] 86.641[deg]	[grasp_sample.py: 539]
+05/15 02:56:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:56:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:56:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:56:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:56:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.273s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:56:30 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.434[m] 76.647[deg]	[grasp_sample.py: 539]
+05/15 02:56:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:56:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:56:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:56:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:56:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:56:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:57:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:57:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:57:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:57:16 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]
+05/15 02:57:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:57:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:57:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.042s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:57:20 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.188[m] 10.641[deg]	[grasp_sample.py: 539]
+05/15 02:57:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:57:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:57:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:57:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:57:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:57:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:33 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:34 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:37 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:58:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:58:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:58:42 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]
+05/15 02:58:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:58:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:58:43 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:58:43 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.023[m] 2.786[deg]	[grasp_sample.py: 539]
+05/15 02:58:44 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:58:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:58:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:58:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:58:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:58:46 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: 195]
+05/15 02:58:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:58:46 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: 273]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080879m	[env.py: 870]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:58:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-3.88929862e-05 -4.56419112e-01  8.08785056e-02] yaw=-188.6deg	[env.py: 1019]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06108296 -0.58200482  0.08087851] yaw=-189.2deg	[env.py: 1019]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25877047  0.04701911  0.08087851] yaw=-135.8deg	[env.py: 1019]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:58:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=79.3ms, total=79.4ms	[env.py: 1075]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.000, -0.456, 0.081)	[env.py: 1079]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.6 deg	[env.py: 1082]
+05/15 02:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.133m	[env.py: 1086]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:58:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:58:47 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:58:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:58:47 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]
+05/15 02:58:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:58:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:58:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.164s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:58:49 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:58:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:58:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:58:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:58:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:58:51 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: 195]
+05/15 02:58:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:58:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083438m	[env.py: 870]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:58:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0364176  -0.94540093  0.08343811] yaw=168.8deg	[env.py: 1019]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02359077 -1.23894395  0.08343811] yaw=177.0deg	[env.py: 1019]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.0ms, total=179.1ms	[env.py: 1075]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.036, -0.945, 0.083)	[env.py: 1079]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
+05/15 02:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:58:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:58:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:58:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:58:51 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]
+05/15 02:58:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:58:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:58:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:58:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.595[m] 98.201[deg]	[grasp_sample.py: 539]
+05/15 02:58:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:58:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:58:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:58:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:58:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:58:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:58:54 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/15 02:58:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:58:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:58:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:58:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 02:58:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:58:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:59:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:59:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:59:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.29s (batch: 3.62s, save: 10.67s)	[pipeline.py: 300]
+05/15 02:59:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.33s:
+  episode_total: mean=171.51s, total=171.51s, count=1, min=171514.8ms, max=171514.8ms
+  sensor_polling: mean=428.5ms, total=123.84s, count=289, min=389.7ms, max=680.6ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10665.9ms, max=10665.9ms
+  physics_step: mean=25.9ms, total=7.50s, count=289, min=16.5ms, max=57.6ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3622.7ms, max=3622.7ms
+  task_sampling: mean=331.7ms, total=331.7ms, count=1, min=331.7ms, max=331.7ms
+  task_specific_sample: mean=329.2ms, total=329.2ms, count=1, min=329.2ms, max=329.2ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=455.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.2us, 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]
+05/15 02:59:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:59:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:59:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:59:10 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: 195]
+05/15 02:59:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:59:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078671m	[env.py: 870]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:59:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23636015 -0.34768042  0.07867055] yaw=-149.9deg	[env.py: 1019]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21268592 -0.65401124  0.07867055] yaw=-162.9deg	[env.py: 1019]
+05/15 02:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:59:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms	[env.py: 1075]
+05/15 02:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.236, -0.348, 0.079)	[env.py: 1079]
+05/15 02:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
+05/15 02:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/15 02:59:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:59:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:59:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.83s (batch: 3.38s, save: 10.46s)	[pipeline.py: 300]
+05/15 02:59:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:59:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:59:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:59:11 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]
+05/15 02:59:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:59:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:59:11 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.35s:
+  episode_total: mean=195.85s, total=195.85s, count=1, min=195846.7ms, max=195846.7ms
+  sensor_polling: mean=401.0ms, total=120.29s, count=300, min=360.9ms, max=680.4ms
+  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10456.9ms, max=10456.9ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=16.7ms, max=36.2ms
+  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3376.6ms, max=3376.6ms
+  task_sampling: mean=353.1ms, total=353.1ms, count=1, min=353.1ms, max=353.1ms
+  task_specific_sample: mean=349.2ms, total=349.2ms, count=1, min=349.2ms, max=349.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=467.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:59:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:59:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 02:59:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.33s (batch: 2.99s, save: 10.34s)	[pipeline.py: 300]
+05/15 02:59:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.932s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:59:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 81.824[deg]	[grasp_sample.py: 539]
+05/15 02:59:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:59:12 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.49s:
+  episode_total: mean=166.94s, total=166.94s, count=1, min=166942.4ms, max=166942.4ms
+  sensor_polling: mean=401.2ms, total=120.35s, count=300, min=377.9ms, max=615.9ms
+  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10340.8ms, max=10340.8ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=17.0ms, max=37.0ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2992.7ms, max=2992.7ms
+  task_sampling: mean=487.5ms, total=487.5ms, count=1, min=487.5ms, max=487.5ms
+  task_specific_sample: mean=483.7ms, total=483.7ms, count=1, min=483.7ms, max=483.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:59:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:59:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:59:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:59:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:59:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:59:13 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: 195]
+05/15 02:59:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:59:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032089m	[env.py: 870]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:59:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 136.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.42055159  0.14928927  0.03208861] yaw=-100.2deg	[env.py: 1019]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:59:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.5ms	[env.py: 1075]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.421, 0.149, 0.032)	[env.py: 1079]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.2 deg	[env.py: 1082]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.166m	[env.py: 1086]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:59:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:59:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:59:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:59:13 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]
+05/15 02:59:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:59:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:59:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:59:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:59:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:59:13 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: 195]
+05/15 02:59:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:59:13 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: 273]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092055m	[env.py: 870]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:59:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.1352541  -0.54642546  0.09205522] yaw=-145.3deg	[env.py: 1019]
+05/15 02:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:59:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.2ms	[env.py: 1075]
+05/15 02:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.135, -0.546, 0.092)	[env.py: 1079]
+05/15 02:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg	[env.py: 1082]
+05/15 02:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/15 02:59:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:59:14 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:59:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:59:14 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]
+05/15 02:59:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:59:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:59:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:59:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.789[m] 53.760[deg]	[grasp_sample.py: 539]
+05/15 02:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:59:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.056s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:59:15 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:59:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:59:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:59:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:59:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:59:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:59:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:59:17 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: 195]
+05/15 02:59:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:59:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.058m, effective arm-mount z=0.802m (base_body_z=-0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057621m	[env.py: 870]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:59:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14032031 -1.22370122 -0.05762076] yaw=184.0deg	[env.py: 1019]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.50098445 -0.03970646 -0.05762076] yaw=-115.3deg	[env.py: 1019]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.05003432 -0.7364876  -0.05762076] yaw=-173.5deg	[env.py: 1019]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:59:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.9ms, total=174.0ms	[env.py: 1075]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.140, -1.224, -0.058)	[env.py: 1079]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.0 deg	[env.py: 1082]
+05/15 02:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:59:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:59:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:59:17 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:59:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:59:17 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]
+05/15 02:59:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:59:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:59:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:59:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.644[m] 100.893[deg]	[grasp_sample.py: 539]
+05/15 02:59:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:59:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:59:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:59:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:59:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:59:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:59:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:59:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:00:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:00:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:00:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:00:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:00:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:00:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:00:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:00:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:01:13 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:01:21 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:01:25 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:01:28 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:01:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:01:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 03:01:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:01:42 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:01:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:01:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:01:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:01:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 03:01:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:01:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:01:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:01:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.49s (batch: 3.22s, save: 11.27s)	[pipeline.py: 300]
+05/15 03:01:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.66s:
+  episode_total: mean=113.85s, total=455.40s, count=4, min=2652.1ms, max=179018.7ms
+  sensor_polling: mean=416.6ms, total=342.44s, count=822, min=380.3ms, max=749.9ms
+  physics_step: mean=24.1ms, total=19.79s, count=822, min=16.7ms, max=36.2ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11271.2ms, max=11271.2ms
+  save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3220.0ms, max=3220.0ms
+  task_sampling: mean=414.6ms, total=1.66s, count=4, min=321.2ms, max=464.2ms
+  task_specific_sample: mean=411.1ms, total=1.64s, count=4, min=317.9ms, max=460.5ms
+  scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=517.0us, total=2.1ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:01:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:01:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 03:01:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:01:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:01:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:01:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:01:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:01:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:01:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:01:51 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: 195]
+05/15 03:01:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:01:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035642m	[env.py: 870]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:01:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05093192 -0.44419353 -0.03564218] yaw=-133.5deg	[env.py: 1019]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33715654 -0.20815438 -0.03564218] yaw=-149.6deg	[env.py: 1019]
+05/15 03:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.08516501 -0.3069564  -0.03564218] yaw=-155.1deg	[env.py: 1019]
+05/15 03:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:01:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.4ms, total=185.4ms	[env.py: 1075]
+05/15 03:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.051, -0.444, -0.036)	[env.py: 1079]
+05/15 03:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg	[env.py: 1082]
+05/15 03:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.185m	[env.py: 1086]
+05/15 03:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:01:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:01:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:01:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:01:52 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]
+05/15 03:01:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:01:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:01:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.532s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:01:55 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:01:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:01:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:01:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:01:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:01:56 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: 195]
+05/15 03:01:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:01:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095625m	[env.py: 870]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:01:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12991165 -0.89879052 -0.09562461] yaw=175.2deg	[env.py: 1019]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:01:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.3ms, total=253.3ms	[env.py: 1075]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.130, -0.899, -0.096)	[env.py: 1079]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
+05/15 03:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:01:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:01:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:01:56 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:01:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:01:56 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]
+05/15 03:01:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:01:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:01:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:01:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:01:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.40s (batch: 3.06s, save: 11.34s)	[pipeline.py: 300]
+05/15 03:01:57 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.50s:
+  episode_total: mean=163.84s, total=163.84s, count=1, min=163844.4ms, max=163844.4ms
+  sensor_polling: mean=388.0ms, total=116.41s, count=300, min=371.2ms, max=644.8ms
+  save_trajectories: mean=11.34s, total=11.34s, count=1, min=11337.4ms, max=11337.4ms
+  physics_step: mean=22.7ms, total=6.81s, count=300, min=16.9ms, max=33.0ms
+  save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3063.8ms, max=3063.8ms
+  task_sampling: mean=501.4ms, total=501.4ms, count=1, min=501.4ms, max=501.4ms
+  task_specific_sample: mean=497.6ms, total=497.6ms, count=1, min=497.6ms, max=497.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=462.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=36.9us, 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]
+05/15 03:01:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.144s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:01:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 59.340[deg]	[grasp_sample.py: 539]
+05/15 03:01:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:01:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:01:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:01:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:01:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:01:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:01:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:01:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:01:59 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: 195]
+05/15 03:01:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:01:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017065m	[env.py: 870]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:01:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35888794 -0.06331829  0.01706467] yaw=-111.3deg	[env.py: 1019]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14953338 -0.51263372  0.01706467] yaw=-183.5deg	[env.py: 1019]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17662207 -0.94090803  0.01706467] yaw=164.7deg	[env.py: 1019]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:01:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.8ms, total=161.9ms	[env.py: 1075]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.359, -0.063, 0.017)	[env.py: 1079]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.3 deg	[env.py: 1082]
+05/15 03:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:01:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:01:59 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:01:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:01:59 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]
+05/15 03:01:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:01:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:02:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:02:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.39s (batch: 3.46s, save: 10.93s)	[pipeline.py: 300]
+05/15 03:02:02 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.48s:
+  episode_total: mean=171.89s, total=171.89s, count=1, min=171890.3ms, max=171890.3ms
+  sensor_polling: mean=409.5ms, total=122.86s, count=300, min=373.1ms, max=663.4ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10929.3ms, max=10929.3ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=21.3ms, max=36.7ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3460.1ms, max=3460.1ms
+  task_sampling: mean=476.2ms, total=476.2ms, count=1, min=476.2ms, max=476.2ms
+  task_specific_sample: mean=473.0ms, total=473.0ms, count=1, min=473.0ms, max=473.0ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=467.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, 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]
+05/15 03:02:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:02:03 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.859[m] 133.383[deg]	[grasp_sample.py: 539]
+05/15 03:02:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:04 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: 195]
+05/15 03:02:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077806m	[env.py: 870]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10492684 -0.1345395   0.0778064 ] yaw=-147.8deg	[env.py: 1019]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.30572054 -1.08668166  0.0778064 ] yaw=132.7deg	[env.py: 1019]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.46196056 -0.17253846  0.0778064 ] yaw=-162.0deg	[env.py: 1019]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.4ms	[env.py: 1075]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.105, -0.135, 0.078)	[env.py: 1079]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.8 deg	[env.py: 1082]
+05/15 03:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.185m	[env.py: 1086]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:04 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:04 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]
+05/15 03:02:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:04 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:02:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:06 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: 195]
+05/15 03:02:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014214m	[env.py: 870]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:02:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:02:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.87s (batch: 3.39s, save: 11.47s)	[pipeline.py: 300]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.02363083 -0.51835534 -0.01421375] yaw=-169.8deg	[env.py: 1019]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00416661 -0.98098136 -0.01421375] yaw=161.9deg	[env.py: 1019]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=207.9ms	[env.py: 1075]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.024, -0.518, -0.014)	[env.py: 1079]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.8 deg	[env.py: 1082]
+05/15 03:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:06 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:06 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]
+05/15 03:02:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:06 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.88s:
+  episode_total: mean=86.15s, total=172.29s, count=2, min=2686.5ms, max=169606.7ms
+  sensor_polling: mean=397.0ms, total=119.09s, count=300, min=369.6ms, max=694.6ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11473.5ms, max=11473.5ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=16.8ms, max=36.8ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3394.3ms, max=3394.3ms
+  task_sampling: mean=442.3ms, total=884.6ms, count=2, min=418.5ms, max=466.2ms
+  task_specific_sample: mean=438.8ms, total=877.6ms, count=2, min=415.2ms, max=462.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=528.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:02:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.424s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:02:07 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:02:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 03:02:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017489m	[env.py: 870]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2637932  -0.02317013 -0.01748922] yaw=-121.2deg	[env.py: 1019]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25548432 -0.5491748  -0.01748922] yaw=-157.6deg	[env.py: 1019]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.38063704 -0.07548792 -0.01748922] yaw=-157.2deg	[env.py: 1019]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.7ms, total=183.7ms	[env.py: 1075]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.264, -0.023, -0.017)	[env.py: 1079]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.2 deg	[env.py: 1082]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.134m	[env.py: 1086]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 03:02:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017420m	[env.py: 870]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.55260352 -0.11959228  0.01741973] yaw=-142.9deg	[env.py: 1019]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.43955089 -0.19425493  0.01741973] yaw=-110.8deg	[env.py: 1019]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:08 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]
+05/15 03:02:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.42375391  0.06414141  0.01741973] yaw=-102.6deg	[env.py: 1019]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.3ms	[env.py: 1075]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.553, -0.120, 0.017)	[env.py: 1079]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
+05/15 03:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.170s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:02:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.876[m] 126.954[deg]	[grasp_sample.py: 539]
+05/15 03:02:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:09 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]
+05/15 03:02:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.804s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:02:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 94.088[deg]	[grasp_sample.py: 539]
+05/15 03:02:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:02:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:02:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:02:10 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:02:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.489s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:02:11 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:02:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:12 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: 195]
+05/15 03:02:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:12 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: 273]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093043m	[env.py: 870]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17207678 -0.64507794  0.09304336] yaw=-189.4deg	[env.py: 1019]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01742121 -1.25641437  0.09304336] yaw=145.3deg	[env.py: 1019]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30947147 -0.38676627  0.09304336] yaw=-149.4deg	[env.py: 1019]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=317.3ms, total=317.4ms	[env.py: 1075]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.172, -0.645, 0.093)	[env.py: 1079]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.4 deg	[env.py: 1082]
+05/15 03:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:12 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]
+05/15 03:02:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:12 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: 195]
+05/15 03:02:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049125m	[env.py: 870]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11212605 -0.25229277 -0.04912491] yaw=-148.1deg	[env.py: 1019]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20354538 -0.54912222 -0.04912491] yaw=-169.9deg	[env.py: 1019]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.1ms, total=225.2ms	[env.py: 1075]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.112, -0.252, -0.049)	[env.py: 1079]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/15 03:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.115m	[env.py: 1086]
+05/15 03:02:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:13 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]
+05/15 03:02:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.990s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:02:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 74.465[deg]	[grasp_sample.py: 539]
+05/15 03:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:02:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:02:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:02:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:02:17 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/15 03:02:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:02:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:02:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:02:18 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: 195]
+05/15 03:02:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:02:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049408m	[env.py: 870]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:02:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23366726 -0.96091041 -0.04940842] yaw=181.6deg	[env.py: 1019]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.4131229  -0.20113224 -0.04940842] yaw=-153.0deg	[env.py: 1019]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.48412307 -0.22255912 -0.04940842] yaw=-144.0deg	[env.py: 1019]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:02:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.3ms, total=129.4ms	[env.py: 1075]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.234, -0.961, -0.049)	[env.py: 1079]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
+05/15 03:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:02:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:02:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:02:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:02:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:02:19 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]
+05/15 03:02:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:02:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:02:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:02:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.549[m] 112.777[deg]	[grasp_sample.py: 539]
+05/15 03:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:02:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:02:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:02:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:02:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:02:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:02:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:02:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:02:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:03:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:03:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:03:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:03:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:03:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:03:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:03:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:03:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:03:53 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]
+05/15 03:03:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:03:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:03:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.191s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:03:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.800[deg]	[grasp_sample.py: 539]
+05/15 03:03:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:03:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:03:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:04:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:04:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:04:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:22 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:26 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:04:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:04:34 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]
+05/15 03:04:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:04:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:04:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:04:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:04:35 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]
+05/15 03:04:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:04:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:04:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:04:36 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.434[deg]	[grasp_sample.py: 539]
+05/15 03:04:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:04:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:04:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:04:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.260s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:04:36 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 9.963[deg]	[grasp_sample.py: 539]
+05/15 03:04:38 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:04:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:04:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:04:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:04:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:04:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:04:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:04:39 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: 195]
+05/15 03:04:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:04:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076109m	[env.py: 870]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:04:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01857363 -0.80136547 -0.07610886] yaw=-187.0deg	[env.py: 1019]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01597561 -0.53893252 -0.07610886] yaw=-168.7deg	[env.py: 1019]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00415411 -0.83263969 -0.07610886] yaw=160.2deg	[env.py: 1019]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:04:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=186.8ms, total=186.9ms	[env.py: 1075]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.019, -0.801, -0.076)	[env.py: 1079]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.0 deg	[env.py: 1082]
+05/15 03:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/15 03:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:04:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:04:40 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:04:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:04:40 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]
+05/15 03:04:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:04:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:04:42 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:04:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 03:04:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:04:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:04:47 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:04:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:04:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:04:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:04:48 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.765[m] 86.535[deg]	[grasp_sample.py: 539]
+05/15 03:04:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:04:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:04:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:04:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:04:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:04:55 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:04:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:04:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:04:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.63s (batch: 2.94s, save: 10.69s)	[pipeline.py: 300]
+05/15 03:04:57 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.96s:
+  episode_total: mean=91.97s, total=183.94s, count=2, min=3152.4ms, max=180790.9ms
+  sensor_polling: mean=444.0ms, total=133.20s, count=300, min=390.5ms, max=692.0ms
+  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10688.3ms, max=10688.3ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.5ms, max=64.3ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2939.9ms, max=2939.9ms
+  task_sampling: mean=480.9ms, total=961.8ms, count=2, min=443.3ms, max=518.4ms
+  task_specific_sample: mean=477.6ms, total=955.2ms, count=2, min=439.6ms, max=515.5ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=447.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.5us, 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]
+05/15 03:04:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:04:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:04:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:04:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:04:58 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: 195]
+05/15 03:04:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:04:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046941m	[env.py: 870]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:04:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08536881 -0.83217248 -0.04694104] yaw=203.5deg	[env.py: 1019]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14350197 -0.638343   -0.04694104] yaw=-196.6deg	[env.py: 1019]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18285138 -0.62922578 -0.04694104] yaw=-174.4deg	[env.py: 1019]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:04:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.1ms, total=116.2ms	[env.py: 1075]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.085, -0.832, -0.047)	[env.py: 1079]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.5 deg	[env.py: 1082]
+05/15 03:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:04:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:04:58 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:04:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:04:59 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]
+05/15 03:04:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:04:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:05:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.983s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:05:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.637[m] 84.207[deg]	[grasp_sample.py: 539]
+05/15 03:05:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:05:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:05:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:05:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:05:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:05:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.86s (batch: 2.86s, save: 11.00s)	[pipeline.py: 300]
+05/15 03:05:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:05:01 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.45s:
+  episode_total: mean=59.75s, total=179.24s, count=3, min=4599.8ms, max=169060.0ms
+  sensor_polling: mean=403.9ms, total=121.17s, count=300, min=377.0ms, max=631.6ms
+  save_trajectories: mean=11.00s, total=11.00s, count=1, min=10996.1ms, max=10996.1ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=18.4ms, max=37.4ms
+  save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2859.1ms, max=2859.1ms
+  task_sampling: mean=481.8ms, total=1.45s, count=3, min=426.4ms, max=558.6ms
+  task_specific_sample: mean=478.3ms, total=1.43s, count=3, min=422.1ms, max=555.8ms
+  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=571.5us, total=1.7ms, count=3, min=0.5ms, max=0.7ms
+  policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:05:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:05:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:05:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:05:02 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: 195]
+05/15 03:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083833m	[env.py: 870]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:05:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.11664024 -0.38301005  0.0838329 ] yaw=-165.8deg	[env.py: 1019]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms	[env.py: 1075]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.117, -0.383, 0.084)	[env.py: 1079]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.8 deg	[env.py: 1082]
+05/15 03:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:05:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:05:03 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:05:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:05:03 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]
+05/15 03:05:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:05:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:05:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.137s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:05:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.668[m] 95.525[deg]	[grasp_sample.py: 539]
+05/15 03:05:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:05:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:05:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:05:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:05:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:05:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 03:05:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:05:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:05:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:05:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.67s (batch: 3.11s, save: 10.56s)	[pipeline.py: 300]
+05/15 03:05:30 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.31s:
+  episode_total: mean=66.47s, total=199.40s, count=3, min=3275.6ms, max=191929.7ms
+  sensor_polling: mean=442.0ms, total=132.59s, count=300, min=384.4ms, max=692.7ms
+  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10564.7ms, max=10564.7ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.8ms, max=39.4ms
+  save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3108.5ms, max=3108.5ms
+  task_sampling: mean=435.9ms, total=1.31s, count=3, min=366.0ms, max=476.3ms
+  task_specific_sample: mean=432.5ms, total=1.30s, count=3, min=363.3ms, max=472.7ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=548.2us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=13.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:05:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:05:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:05:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:05:31 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: 195]
+05/15 03:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:05:31 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: 273]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063355m	[env.py: 870]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29545336 -0.37247196  0.0633552 ] yaw=-159.8deg	[env.py: 1019]
+05/15 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22686943 -0.7757631   0.0633552 ] yaw=-164.9deg	[env.py: 1019]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1575156  -1.10536548  0.0633552 ] yaw=135.3deg	[env.py: 1019]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:05:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=86.0ms	[env.py: 1075]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -0.372, 0.063)	[env.py: 1079]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
+05/15 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/15 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:05:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:05:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:05:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:05:32 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]
+05/15 03:05:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:05:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:05:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:05:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.805[m] 50.749[deg]	[grasp_sample.py: 539]
+05/15 03:05:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:05:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:05:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:05:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:05:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:05:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:06:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:06:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:06:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:06:18 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]
+05/15 03:06:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:06:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:06:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:06:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 40.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:06:58 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.263[m] 26.265[deg]	[grasp_sample.py: 539]
+05/15 03:06:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:06:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:06:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:06:59 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:16 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:07:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:07:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:07:17 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]
+05/15 03:07:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:07:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:07:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:07:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 03:07:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:07:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:07:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:07:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.22s (batch: 3.30s, save: 10.92s)	[pipeline.py: 300]
+05/15 03:07:34 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.42s:
+  episode_total: mean=109.05s, total=327.16s, count=3, min=3083.5ms, max=174532.0ms
+  sensor_polling: mean=406.7ms, total=233.06s, count=573, min=376.4ms, max=706.3ms
+  physics_step: mean=24.1ms, total=13.83s, count=573, min=17.0ms, max=36.6ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10918.6ms, max=10918.6ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3304.3ms, max=3304.3ms
+  task_sampling: mean=474.1ms, total=1.42s, count=3, min=456.8ms, max=498.6ms
+  task_specific_sample: mean=470.7ms, total=1.41s, count=3, min=453.8ms, max=494.8ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=517.1us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:07:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:07:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:07:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:07:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:07:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:07:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:07:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:07:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:07:35 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: 195]
+05/15 03:07:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:07:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:07:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:07:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:07:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089625m	[env.py: 870]
+05/15 03:07:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:07:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:07:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.16992823 -0.96402835  0.08962496] yaw=192.6deg	[env.py: 1019]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.03302166 -0.91266165  0.08962496] yaw=155.6deg	[env.py: 1019]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.33951759  0.12658605  0.08962496] yaw=-138.8deg	[env.py: 1019]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:07:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.2ms, total=223.2ms	[env.py: 1075]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.170, -0.964, 0.090)	[env.py: 1079]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.6 deg	[env.py: 1082]
+05/15 03:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/15 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:07:36 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:07:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:07:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:07:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:07:36 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:07:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:07:36 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]
+05/15 03:07:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:07:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:07:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:07:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.577[m] 62.123[deg]	[grasp_sample.py: 539]
+05/15 03:07:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:07:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:07:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:07:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:07:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:07:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:07:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:07:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.57s (batch: 3.00s, save: 10.57s)	[pipeline.py: 300]
+05/15 03:07:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.47s:
+  episode_total: mean=167.67s, total=167.67s, count=1, min=167670.0ms, max=167670.0ms
+  sensor_polling: mean=403.6ms, total=121.09s, count=300, min=379.6ms, max=650.9ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10566.3ms, max=10566.3ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=16.9ms, max=31.7ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3002.6ms, max=3002.6ms
+  task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms
+  task_specific_sample: mean=462.9ms, total=462.9ms, count=1, min=462.9ms, max=462.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=461.0us, 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]
+05/15 03:07:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:07:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:07:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:07:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:07:51 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: 195]
+05/15 03:07:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:07:51 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: 273]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024713m	[env.py: 870]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:07:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02976994 -1.08378716  0.02471296] yaw=145.6deg	[env.py: 1019]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27833302 -0.28262206  0.02471296] yaw=-127.9deg	[env.py: 1019]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.52468218 -0.10621295  0.02471296] yaw=-151.8deg	[env.py: 1019]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:07:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.6ms	[env.py: 1075]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.030, -1.084, 0.025)	[env.py: 1079]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.6 deg	[env.py: 1082]
+05/15 03:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.136m	[env.py: 1086]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:07:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:07:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:07:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:07:52 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]
+05/15 03:07:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:07:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.573s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:07:54 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:07:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:07:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:07:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:07:56 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: 195]
+05/15 03:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071877m	[env.py: 870]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14593993 -0.60101918  0.07187688] yaw=-152.0deg	[env.py: 1019]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.1ms	[env.py: 1075]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.146, -0.601, 0.072)	[env.py: 1079]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.0 deg	[env.py: 1082]
+05/15 03:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:07:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:07:56 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:07:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:07:56 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]
+05/15 03:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:07:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:07:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.713s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:07:59 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.815[m] 82.722[deg]	[grasp_sample.py: 539]
+05/15 03:07:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:08:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:08:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:08:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 43.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:08:01 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.056[m] 153.822[deg]	[grasp_sample.py: 539]
+05/15 03:08:02 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:08:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:08:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:08:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:08:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:08:04 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: 195]
+05/15 03:08:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:08:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076412m	[env.py: 870]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:08:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02792489 -1.02270249 -0.07641188] yaw=155.5deg	[env.py: 1019]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04782076 -1.16873019 -0.07641188] yaw=180.7deg	[env.py: 1019]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:08:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=391.9ms, total=392.0ms	[env.py: 1075]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.028, -1.023, -0.076)	[env.py: 1079]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg	[env.py: 1082]
+05/15 03:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:08:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:08:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:08:04 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:08:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:08:04 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]
+05/15 03:08:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:08:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:08:05 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:08:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 03:08:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.751s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:08:09 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.771[m] 82.546[deg]	[grasp_sample.py: 539]
+05/15 03:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:08:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:08:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:08:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:08:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:08:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:08:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.70s (batch: 3.20s, save: 10.50s)	[pipeline.py: 300]
+05/15 03:08:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.34s:
+  episode_total: mean=168.03s, total=168.03s, count=1, min=168033.7ms, max=168033.7ms
+  sensor_polling: mean=403.4ms, total=121.03s, count=300, min=372.5ms, max=677.2ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10504.1ms, max=10504.1ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.8ms, max=38.4ms
+  save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3198.2ms, max=3198.2ms
+  task_sampling: mean=335.8ms, total=335.8ms, count=1, min=335.8ms, max=335.8ms
+  task_specific_sample: mean=331.6ms, total=331.6ms, count=1, min=331.6ms, max=331.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=462.9us, 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]
+05/15 03:08:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:08:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:08:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:08:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:08:21 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: 195]
+05/15 03:08:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:08:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007415m	[env.py: 870]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:08:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.39985913 -0.12199474 -0.00741454] yaw=-122.3deg	[env.py: 1019]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.26507363 -0.8488024  -0.00741454] yaw=202.2deg	[env.py: 1019]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.32833463 -0.41545838 -0.00741454] yaw=-134.3deg	[env.py: 1019]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:08:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms	[env.py: 1075]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.400, -0.122, -0.007)	[env.py: 1079]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.3 deg	[env.py: 1082]
+05/15 03:08:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:08:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:08:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:08:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:08:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:08:21 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]
+05/15 03:08:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:08:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:08:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.971s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:08:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.561[m] 96.259[deg]	[grasp_sample.py: 539]
+05/15 03:08:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:08:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:08:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:08:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:08:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:08:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:08:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:09:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:09:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:09:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:08 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:10:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:10:13 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]
+05/15 03:10:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:10:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:10:15 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.168[deg]	[grasp_sample.py: 539]
+05/15 03:10:16 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:10:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:10:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:10:18 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: 195]
+05/15 03:10:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:10:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090061m	[env.py: 870]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:10:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22101685 -0.97918928  0.09006076] yaw=179.6deg	[env.py: 1019]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06137921 -0.8300548   0.09006076] yaw=199.9deg	[env.py: 1019]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28541455 -0.21020261  0.09006076] yaw=-158.7deg	[env.py: 1019]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:10:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.221, -0.979, 0.090)	[env.py: 1079]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg	[env.py: 1082]
+05/15 03:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:10:18 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:10:19 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]
+05/15 03:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:10:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:10:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.402[m] 80.995[deg]	[grasp_sample.py: 539]
+05/15 03:10:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:10:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:10:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:10:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:10:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:10:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:10:26 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]
+05/15 03:10:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:10:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:10:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.967s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:10:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:10:28 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:10:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:10:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:10:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:10:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:10:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:10:29 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: 195]
+05/15 03:10:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:10:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024711m	[env.py: 870]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:10:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10666517 -0.47659015 -0.0247114 ] yaw=-135.5deg	[env.py: 1019]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15606649 -1.28449818 -0.0247114 ] yaw=125.8deg	[env.py: 1019]
+05/15 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=455.7ms, total=455.7ms	[env.py: 1075]
+05/15 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.107, -0.477, -0.025)	[env.py: 1079]
+05/15 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
+05/15 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/15 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:10:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:10:30 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]
+05/15 03:10:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:10:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:10:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:10:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.641[m] 89.584[deg]	[grasp_sample.py: 539]
+05/15 03:10:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:10:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:10:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:10:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:10:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:10:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:10:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:10:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.18s (batch: 3.09s, save: 11.09s)	[pipeline.py: 300]
+05/15 03:10:42 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.84s:
+  episode_total: mean=84.83s, total=169.67s, count=2, min=3113.1ms, max=166555.4ms
+  sensor_polling: mean=396.9ms, total=119.06s, count=300, min=368.6ms, max=631.9ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11090.9ms, max=11090.9ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=16.9ms, max=31.4ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3089.3ms, max=3089.3ms
+  task_sampling: mean=421.9ms, total=843.8ms, count=2, min=377.4ms, max=466.4ms
+  task_specific_sample: mean=418.8ms, total=837.6ms, count=2, min=374.1ms, max=463.4ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.1ms, max=1.9ms
+  mj_forward_sync: mean=449.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:10:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:10:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:10:44 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: 195]
+05/15 03:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:10:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052441m	[env.py: 870]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10740057 -0.71650911 -0.05244062] yaw=-195.7deg	[env.py: 1019]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13811279 -0.7356154  -0.05244062] yaw=-184.3deg	[env.py: 1019]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10991911 -0.97139958 -0.05244062] yaw=193.8deg	[env.py: 1019]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:10:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.8ms	[env.py: 1075]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -0.717, -0.052)	[env.py: 1079]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.7 deg	[env.py: 1082]
+05/15 03:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.186m	[env.py: 1086]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:10:44 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:10:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:10:44 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]
+05/15 03:10:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:10:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:10:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.459s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:10:47 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:10:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:10:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:10:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:10:48 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: 195]
+05/15 03:10:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:10:48 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: 273]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026812m	[env.py: 870]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:10:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01233014 -0.70607673  0.02681199] yaw=-198.1deg	[env.py: 1019]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30449132 -1.05321086  0.02681199] yaw=147.1deg	[env.py: 1019]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01310409 -0.95129482  0.02681199] yaw=162.5deg	[env.py: 1019]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:10:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=114.0ms	[env.py: 1075]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.012, -0.706, 0.027)	[env.py: 1079]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.1 deg	[env.py: 1082]
+05/15 03:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:10:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:10:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:10:49 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:10:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:10:49 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]
+05/15 03:10:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:10:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:10:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.281s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:10:52 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.836[m] 85.227[deg]	[grasp_sample.py: 539]
+05/15 03:10:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:10:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:10:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:10:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:10:55 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:10:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 03:10:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:10:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:11:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:11:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:11:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:11:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.22s (batch: 3.11s, save: 11.11s)	[pipeline.py: 300]
+05/15 03:11:10 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.07s:
+  episode_total: mean=185.01s, total=370.03s, count=2, min=183840.0ms, max=186188.4ms
+  sensor_polling: mean=428.2ms, total=194.40s, count=454, min=380.7ms, max=642.7ms
+  physics_step: mean=25.3ms, total=11.50s, count=454, min=16.7ms, max=60.6ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11111.9ms, max=11111.9ms
+  save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3108.7ms, max=3108.7ms
+  task_sampling: mean=537.4ms, total=1.07s, count=2, min=385.3ms, max=689.4ms
+  task_specific_sample: mean=533.8ms, total=1.07s, count=2, min=382.1ms, max=685.4ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.8ms, max=1.9ms
+  mj_forward_sync: mean=453.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.4us, 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]
+05/15 03:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:11:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:11:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:11:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:11:11 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: 195]
+05/15 03:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:11:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008929m	[env.py: 870]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.30691136 -1.13844006  0.00892931] yaw=163.4deg	[env.py: 1019]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:11:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.4ms, total=208.4ms	[env.py: 1075]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.307, -1.138, 0.009)	[env.py: 1079]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg	[env.py: 1082]
+05/15 03:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:11:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:11:12 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:11:12 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]
+05/15 03:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:11:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:11:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.474[m] 72.590[deg]	[grasp_sample.py: 539]
+05/15 03:11:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:11:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:11:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:11:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:11:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:11:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:11:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:11:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:11:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:11:59 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]
+05/15 03:11:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:11:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:11:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:11:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:11:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.304[deg]	[grasp_sample.py: 539]
+05/15 03:11:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:12:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:12:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:12:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:12:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:12:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:12:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:12:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:12:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:12:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:12:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:44 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:12:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:12:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:12:53 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]
+05/15 03:12:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:12:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:12:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.129s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:12:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.995[deg]	[grasp_sample.py: 539]
+05/15 03:12:57 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:12:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:12:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:12:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:12:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:12:59 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: 195]
+05/15 03:12:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:12:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094701m	[env.py: 870]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:12:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01154377 -1.04829427  0.09470125] yaw=193.2deg	[env.py: 1019]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30240142 -0.45257726  0.09470125] yaw=-156.9deg	[env.py: 1019]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.37310141  0.07971933  0.09470125] yaw=-152.6deg	[env.py: 1019]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:12:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms	[env.py: 1075]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.012, -1.048, 0.095)	[env.py: 1079]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.2 deg	[env.py: 1082]
+05/15 03:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.110m	[env.py: 1086]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:12:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:12:59 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:12:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:12:59 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]
+05/15 03:12:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:12:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:12:59 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:13:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:13:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.917[m] 125.566[deg]	[grasp_sample.py: 539]
+05/15 03:13:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:13:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:13:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:13:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:13:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:13:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 03:13:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:13:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:13:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:13:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:13:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:13:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:13:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.18s (batch: 3.17s, save: 11.01s)	[pipeline.py: 300]
+05/15 03:13:20 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
+  episode_total: mean=148.95s, total=297.89s, count=2, min=126698.0ms, max=171196.7ms
+  sensor_polling: mean=406.7ms, total=225.32s, count=554, min=366.8ms, max=676.6ms
+  physics_step: mean=25.3ms, total=13.99s, count=554, min=16.8ms, max=56.7ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11009.0ms, max=11009.0ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3170.2ms, max=3170.2ms
+  task_sampling: mean=607.0ms, total=1.21s, count=2, min=482.4ms, max=731.6ms
+  task_specific_sample: mean=603.8ms, total=1.21s, count=2, min=479.1ms, max=728.5ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=462.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:13:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:13:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:13:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:13:22 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: 195]
+05/15 03:13:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:13:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011192m	[env.py: 870]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:13:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.51200444 -0.07651111 -0.01119175] yaw=-152.7deg	[env.py: 1019]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.04807858 -1.05828574 -0.01119175] yaw=168.5deg	[env.py: 1019]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14258767 -0.10376922 -0.01119175] yaw=-120.5deg	[env.py: 1019]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:13:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.1ms	[env.py: 1075]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.512, -0.077, -0.011)	[env.py: 1079]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg	[env.py: 1082]
+05/15 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:13:22 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:13:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:13:22 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]
+05/15 03:13:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:13:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.684[m] 106.407[deg]	[grasp_sample.py: 539]
+05/15 03:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:26 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:13:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:13:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:13:27 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: 195]
+05/15 03:13:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:13:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045905m	[env.py: 870]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:13:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06731069 -1.12113429  0.04590454] yaw=188.8deg	[env.py: 1019]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:13:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.5ms	[env.py: 1075]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.067, -1.121, 0.046)	[env.py: 1079]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.8 deg	[env.py: 1082]
+05/15 03:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m	[env.py: 1086]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:13:28 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:13:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:13:28 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]
+05/15 03:13:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.387s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:13:30 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:13:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:13:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:13:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:13:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 03:13:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:13:32 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: 273]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096018m	[env.py: 870]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:13:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27765369 -1.03705797  0.09601826] yaw=163.1deg	[env.py: 1019]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13157948 -0.59227857  0.09601826] yaw=-160.3deg	[env.py: 1019]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:13:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.8ms	[env.py: 1075]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.278, -1.037, 0.096)	[env.py: 1079]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
+05/15 03:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:13:32 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:13:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:13:32 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]
+05/15 03:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:13:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.456[m] 69.987[deg]	[grasp_sample.py: 539]
+05/15 03:13:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:13:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:13:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:13:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.06s (batch: 2.94s, save: 11.12s)	[pipeline.py: 300]
+05/15 03:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:13:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.75s:
+  episode_total: mean=84.44s, total=168.89s, count=2, min=3043.8ms, max=165842.4ms
+  sensor_polling: mean=391.5ms, total=117.44s, count=300, min=367.2ms, max=582.9ms
+  save_trajectories: mean=11.12s, total=11.12s, count=1, min=11119.9ms, max=11119.9ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=17.2ms, max=41.6ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2936.3ms, max=2936.3ms
+  task_sampling: mean=373.3ms, total=746.7ms, count=2, min=339.3ms, max=407.3ms
+  task_specific_sample: mean=369.7ms, total=739.4ms, count=2, min=336.3ms, max=403.1ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  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]
+05/15 03:13:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:13:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:13:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:13:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 03:13:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:13:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048537m	[env.py: 870]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:13:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12929135 -0.75102005 -0.04853728] yaw=-174.1deg	[env.py: 1019]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15435165 -0.43910383 -0.04853728] yaw=-155.8deg	[env.py: 1019]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13747136 -1.02440375 -0.04853728] yaw=164.1deg	[env.py: 1019]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:13:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.0ms, total=180.0ms	[env.py: 1075]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.129, -0.751, -0.049)	[env.py: 1079]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg	[env.py: 1082]
+05/15 03:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:13:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:13:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:13:36 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]
+05/15 03:13:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:13:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.673[m] 110.082[deg]	[grasp_sample.py: 539]
+05/15 03:13:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:13:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:13:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:13:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:13:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:13:38 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]
+05/15 03:13:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:13:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:13:39 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.031[m] 4.309[deg]	[grasp_sample.py: 539]
+05/15 03:13:41 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:13:41 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/15 03:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:13:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:13:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 03:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:13:42 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: 273]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035802m	[env.py: 870]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.43593214  0.04537595  0.03580164] yaw=-146.1deg	[env.py: 1019]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:13:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.5ms	[env.py: 1075]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.436, 0.045, 0.036)	[env.py: 1079]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
+05/15 03:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:13:42 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:13:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:13:43 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]
+05/15 03:13:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.145s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:13:45 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:13:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:13:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:13:46 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: 195]
+05/15 03:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:13:46 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: 273]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020002m	[env.py: 870]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13296598 -0.97912444  0.02000154] yaw=188.9deg	[env.py: 1019]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:13:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms	[env.py: 1075]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.133, -0.979, 0.020)	[env.py: 1079]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.9 deg	[env.py: 1082]
+05/15 03:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:13:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:13:47 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:13:47 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]
+05/15 03:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:13:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.641[m] 118.124[deg]	[grasp_sample.py: 539]
+05/15 03:13:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:13:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:13:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:13:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:14:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:14:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:14:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:14:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:14:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:15:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:15:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:15:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:15:16 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]
+05/15 03:15:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:15:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:15:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:15:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.386[deg]	[grasp_sample.py: 539]
+05/15 03:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:18 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 03:15:18 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/15 03:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:19 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:15:19 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:15:19 INFO: [Worker 0] Worker 0 completed house 1: 7/7 successful episodes	[pipeline.py: 1323]
+05/15 03:15:19 INFO: [Worker 0] [PROFILE] House 1 complete: 7/7 successful, 7 episodes, total_time=3001.53s
+  House averages:
+  episode_total: mean=92.17s, total=1658.98s, count=18, min=2686.5ms, max=195846.7ms
+  sensor_polling: mean=412.6ms, total=1146.16s, count=2778, min=360.9ms, max=698.7ms
+  save_trajectories: mean=10.90s, total=76.27s, count=7, min=10456.9ms, max=11473.5ms
+  physics_step: mean=25.3ms, total=70.19s, count=2778, min=16.7ms, max=56.7ms
+  save_batch_prep: mean=3.25s, total=22.78s, count=7, min=3108.5ms, max=3394.3ms
+  task_sampling: mean=628.6ms, total=11.32s, count=18, min=335.8ms, max=3844.8ms
+  task_specific_sample: mean=439.8ms, total=7.92s, count=18, min=331.6ms, max=728.5ms
+  scene_load: mean=3.34s, total=3.34s, count=1, min=3340.5ms, max=3340.5ms
+  scene_env_create: mean=2.07s, total=2.07s, count=1, min=2065.9ms, max=2065.9ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1093.6ms, max=1093.6ms
+  compile_mujoco: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
+  compile_xml_load: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
+  scene_init: mean=120.5ms, total=120.5ms, count=1, min=120.5ms, max=120.5ms
+  scene_asset_install: mean=60.3ms, total=60.3ms, count=1, min=60.3ms, max=60.3ms
+  compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  scene_randomize: mean=1.8ms, total=31.5ms, count=18, min=1.1ms, max=2.9ms
+  compile_robot_add: mean=18.4ms, total=18.4ms, count=1, min=18.4ms, max=18.4ms
+  asset_install_objects: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
+  mj_forward_sync: mean=479.1us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=15.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 03:15:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 03:15:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 7 episodes, total_time=3001.53s
+  Worker averages:
+  episode_total: mean=92.17s, total=1658.98s, count=18, min=2686.5ms, max=195846.7ms
+  sensor_polling: mean=412.6ms, total=1146.16s, count=2778, min=360.9ms, max=698.7ms
+  save_trajectories: mean=10.90s, total=76.27s, count=7, min=10456.9ms, max=11473.5ms
+  physics_step: mean=25.3ms, total=70.19s, count=2778, min=16.7ms, max=56.7ms
+  save_batch_prep: mean=3.25s, total=22.78s, count=7, min=3108.5ms, max=3394.3ms
+  task_sampling: mean=628.6ms, total=11.32s, count=18, min=335.8ms, max=3844.8ms
+  task_specific_sample: mean=439.8ms, total=7.92s, count=18, min=331.6ms, max=728.5ms
+  scene_load: mean=3.34s, total=3.34s, count=1, min=3340.5ms, max=3340.5ms
+  scene_env_create: mean=2.07s, total=2.07s, count=1, min=2065.9ms, max=2065.9ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1093.6ms, max=1093.6ms
+  compile_mujoco: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
+  compile_xml_load: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
+  scene_init: mean=120.5ms, total=120.5ms, count=1, min=120.5ms, max=120.5ms
+  scene_asset_install: mean=60.3ms, total=60.3ms, count=1, min=60.3ms, max=60.3ms
+  compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  scene_randomize: mean=1.8ms, total=31.5ms, count=18, min=1.1ms, max=2.9ms
+  compile_robot_add: mean=18.4ms, total=18.4ms, count=1, min=18.4ms, max=18.4ms
+  asset_install_objects: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
+  mj_forward_sync: mean=479.1us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=15.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 03:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:15:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:15:21 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]
+05/15 03:15:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:15:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:15:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:15:21 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.099[m] 0.306[deg]	[grasp_sample.py: 539]
+05/15 03:15:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:15:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:15:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:15:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 03:15:22 INFO: Success count: 7, Total count: 7	[pipeline.py: 1491]
+05/15 03:15:22 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/15 03:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:23 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 03:15:23 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure)	[task_sampler.py: 396]
+05/15 03:15:23 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.30s:
+  episode_total: mean=154.78s, total=464.33s, count=3, min=144568.1ms, max=160928.7ms
+  sensor_polling: mean=414.4ms, total=346.87s, count=837, min=369.2ms, max=692.2ms
+  physics_step: mean=24.0ms, total=20.05s, count=837, min=15.4ms, max=60.5ms
+  task_sampling: mean=434.2ms, total=1.30s, count=3, min=360.6ms, max=501.1ms
+  task_specific_sample: mean=430.3ms, total=1.29s, count=3, min=357.8ms, max=496.6ms
+  scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=476.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:15:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:15:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:15:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:15:25 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: 195]
+05/15 03:15:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:15:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093004m	[env.py: 870]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:15:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12291914 -0.15460368 -0.09300364] yaw=-126.9deg	[env.py: 1019]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.36715107 -0.08574057 -0.09300364] yaw=-130.4deg	[env.py: 1019]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:15:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=318.8ms, total=318.9ms	[env.py: 1075]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -0.155, -0.093)	[env.py: 1079]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.9 deg	[env.py: 1082]
+05/15 03:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.159m	[env.py: 1086]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:15:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:15:25 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:15:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:15:25 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]
+05/15 03:15:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:15:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.816s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:15:28 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:15:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:15:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:15:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:15:30 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: 195]
+05/15 03:15:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:15:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054218m	[env.py: 870]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:15:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08165329 -1.01278779  0.05421815] yaw=172.0deg	[env.py: 1019]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05108723 -0.69020383  0.05421815] yaw=-173.1deg	[env.py: 1019]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.29611027 -0.26156186  0.05421815] yaw=-152.7deg	[env.py: 1019]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:15:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.7ms, total=247.8ms	[env.py: 1075]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.082, -1.013, 0.054)	[env.py: 1079]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg	[env.py: 1082]
+05/15 03:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.173m	[env.py: 1086]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:15:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:15:30 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:15:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:15:30 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]
+05/15 03:15:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:15:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:15:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:15:32 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]
+05/15 03:15:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:15:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:15:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.797s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:15:33 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:15:33 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:15:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.311[deg]	[grasp_sample.py: 539]
+05/15 03:15:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:15:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:15:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:15:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:15:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:15:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:15:34 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: 195]
+05/15 03:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.072370m	[env.py: 870]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10552626 -0.74489561 -0.07237047] yaw=-195.5deg	[env.py: 1019]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27303756 -1.21705357 -0.07237047] yaw=154.0deg	[env.py: 1019]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.6ms, total=185.7ms	[env.py: 1075]
+05/15 03:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -0.745, -0.072)	[env.py: 1079]
+05/15 03:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.5 deg	[env.py: 1082]
+05/15 03:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m	[env.py: 1086]
+05/15 03:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:15:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:15:35 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:15:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 03:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:15:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.108s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:15:38 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:15:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:15:39 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:15:39 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:15:39 INFO: [Worker 0] Worker 0 completed house 1: 5/7 successful episodes	[pipeline.py: 1323]
+05/15 03:15:39 INFO: [Worker 0] [PROFILE] House 1 complete: 5/7 successful, 7 episodes, total_time=3015.71s
+  House averages:
+  episode_total: mean=93.05s, total=1674.84s, count=18, min=2836.8ms, max=215206.5ms
+  sensor_polling: mean=413.9ms, total=1174.57s, count=2838, min=363.3ms, max=706.3ms
+  physics_step: mean=24.7ms, total=70.10s, count=2838, min=15.4ms, max=60.5ms
+  save_trajectories: mean=10.90s, total=54.49s, count=5, min=10665.9ms, max=11299.9ms
+  save_batch_prep: mean=3.26s, total=16.29s, count=5, min=2835.0ms, max=3622.7ms
+  task_sampling: mean=600.7ms, total=10.81s, count=18, min=331.7ms, max=3136.4ms
+  task_specific_sample: mean=443.6ms, total=7.98s, count=18, min=329.2ms, max=600.7ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2770.9ms, max=2770.9ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.4ms, max=1668.4ms
+  scene_compile: mean=918.3ms, total=918.3ms, count=1, min=918.3ms, max=918.3ms
+  compile_mujoco: mean=635.6ms, total=635.6ms, count=1, min=635.6ms, max=635.6ms
+  compile_xml_load: mean=203.1ms, total=203.1ms, count=1, min=203.1ms, max=203.1ms
+  scene_init: mean=115.3ms, total=115.3ms, count=1, min=115.3ms, max=115.3ms
+  scene_asset_install: mean=68.6ms, total=68.6ms, count=1, min=68.6ms, max=68.6ms
+  compile_aux_objects: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  compile_aux_policy_objects: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  asset_install_grasps: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  scene_randomize: mean=1.6ms, total=28.8ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  mj_forward_sync: mean=490.4us, total=8.8ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=18.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 03:15:40 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 03:15:40 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 7 episodes, total_time=3015.71s
+  Worker averages:
+  episode_total: mean=93.05s, total=1674.84s, count=18, min=2836.8ms, max=215206.5ms
+  sensor_polling: mean=413.9ms, total=1174.57s, count=2838, min=363.3ms, max=706.3ms
+  physics_step: mean=24.7ms, total=70.10s, count=2838, min=15.4ms, max=60.5ms
+  save_trajectories: mean=10.90s, total=54.49s, count=5, min=10665.9ms, max=11299.9ms
+  save_batch_prep: mean=3.26s, total=16.29s, count=5, min=2835.0ms, max=3622.7ms
+  task_sampling: mean=600.7ms, total=10.81s, count=18, min=331.7ms, max=3136.4ms
+  task_specific_sample: mean=443.6ms, total=7.98s, count=18, min=329.2ms, max=600.7ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2770.9ms, max=2770.9ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.4ms, max=1668.4ms
+  scene_compile: mean=918.3ms, total=918.3ms, count=1, min=918.3ms, max=918.3ms
+  compile_mujoco: mean=635.6ms, total=635.6ms, count=1, min=635.6ms, max=635.6ms
+  compile_xml_load: mean=203.1ms, total=203.1ms, count=1, min=203.1ms, max=203.1ms
+  scene_init: mean=115.3ms, total=115.3ms, count=1, min=115.3ms, max=115.3ms
+  scene_asset_install: mean=68.6ms, total=68.6ms, count=1, min=68.6ms, max=68.6ms
+  compile_aux_objects: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  compile_aux_policy_objects: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  asset_install_grasps: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  scene_randomize: mean=1.6ms, total=28.8ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  mj_forward_sync: mean=490.4us, total=8.8ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=18.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 03:15:42 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 03:15:42 INFO: Success count: 5, Total count: 7	[pipeline.py: 1491]
+05/15 03:15:42 INFO: Success rate: 71.43%	[pipeline.py: 1492]
+05/15 03:15:47 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:15:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:15:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 03:16:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 03:16:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 03:16:06 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]
+05/15 03:16:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:16:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:16:06 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:16:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:16:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:16:08 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.929s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:16:08 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.653[deg]	[grasp_sample.py: 539]
+05/15 03:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:16:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:16:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:16:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:16:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.32s (batch: 2.90s, save: 10.42s)	[pipeline.py: 300]
+05/15 03:16:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:16:20 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s:
+  episode_total: mean=164.59s, total=164.59s, count=1, min=164593.1ms, max=164593.1ms
+  sensor_polling: mean=400.3ms, total=120.08s, count=300, min=348.7ms, max=619.5ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10423.4ms, max=10423.4ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=21.5ms, max=32.8ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2897.1ms, max=2897.1ms
+  task_sampling: mean=470.5ms, total=470.5ms, count=1, min=470.5ms, max=470.5ms
+  task_specific_sample: mean=466.3ms, total=466.3ms, count=1, min=466.3ms, max=466.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=468.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:16:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:16:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:16:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:16:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:16:21 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: 195]
+05/15 03:16:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:16:21 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: 273]
+05/15 03:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063902m	[env.py: 870]
+05/15 03:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:16:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2478249  -0.49037737  0.06390234] yaw=-172.7deg	[env.py: 1019]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1302807  -0.46929856  0.06390234] yaw=-166.3deg	[env.py: 1019]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20663391 -1.17920231  0.06390234] yaw=178.8deg	[env.py: 1019]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.4ms, total=158.5ms	[env.py: 1075]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.248, -0.490, 0.064)	[env.py: 1079]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg	[env.py: 1082]
+05/15 03:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/15 03:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:16:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:16:22 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:16:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:16:22 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]
+05/15 03:16:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:16:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:16:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.846s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:16:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.571[m] 104.857[deg]	[grasp_sample.py: 539]
+05/15 03:16:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:16:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:16:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:16:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:16:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:16:28 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 03:16:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=1.33s:
+  episode_total: mean=104.54s, total=313.62s, count=3, min=2666.7ms, max=161430.7ms
+  sensor_polling: mean=442.1ms, total=240.04s, count=543, min=394.7ms, max=696.5ms
+  physics_step: mean=24.9ms, total=13.54s, count=543, min=15.2ms, max=39.9ms
+  task_sampling: mean=444.3ms, total=1.33s, count=3, min=386.9ms, max=492.5ms
+  task_specific_sample: mean=440.5ms, total=1.32s, count=3, min=383.4ms, max=489.2ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=499.2us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:16:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:16:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:16:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:16:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:16:29 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: 195]
+05/15 03:16:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:16:29 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: 273]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093044m	[env.py: 870]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:16:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18776 free points within sampling radius	[env.py: 907]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21528772 -0.76196921  0.09304434] yaw=-189.9deg	[env.py: 1019]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.53873232 -0.02969223  0.09304434] yaw=-103.4deg	[env.py: 1019]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:16:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms	[env.py: 1075]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.215, -0.762, 0.093)	[env.py: 1079]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.9 deg	[env.py: 1082]
+05/15 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:16:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:16:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:16:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:16:30 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]
+05/15 03:16:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:16:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:16:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 03:16:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 88.951[deg]	[grasp_sample.py: 539]
+05/15 03:16:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 03:16:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 03:16:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:16:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 03:17:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:17:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:17:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 03:17:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:17:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 03:18:31 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:18:44 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 03:18:51 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:18:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 03:18:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:19:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:19:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:19:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 13.75s (batch: 2.91s, save: 10.84s)	[pipeline.py: 300]
+05/15 03:19:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=163.71s, total=163.71s, count=1, min=163709.0ms, max=163709.0ms
+  sensor_polling: mean=387.5ms, total=116.24s, count=300, min=372.4ms, max=591.2ms
+  save_trajectories: mean=10.84s, total=10.84s, count=1, min=10838.8ms, max=10838.8ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=16.9ms, max=27.9ms
+  save_batch_prep: mean=2.91s, total=2.91s, count=1, min=2914.3ms, max=2914.3ms
+  task_sampling: mean=450.5ms, total=450.5ms, count=1, min=450.5ms, max=450.5ms
+  task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=460.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 03:19:06 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[pipeline.py: 1174]
+05/15 03:19:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_109 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 03:19:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 03:19:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 03:19:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 03:19:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:19:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 03:19:07 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: 195]
+05/15 03:19:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 03:19:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064818m	[env.py: 870]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 03:19:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39718326  0.07696646 -0.06481835] yaw=-140.4deg	[env.py: 1019]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18087907 -1.26002495 -0.06481835] yaw=175.7deg	[env.py: 1019]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.38517426  0.0535787  -0.06481835] yaw=-136.1deg	[env.py: 1019]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 03:19:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=346.6ms, total=346.6ms	[env.py: 1075]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.397, 0.077, -0.065)	[env.py: 1079]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.4 deg	[env.py: 1082]
+05/15 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 03:19:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 03:19:07 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 03:19:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 03:19:07 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]
+05/15 03:19:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 03:19:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 03:19:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.108s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 03:19:10 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 03:19:12 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:19:12 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:19:12 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/15 03:19:12 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=3447.40s
+  House averages:
+  episode_total: mean=104.97s, total=1889.52s, count=18, min=2552.6ms, max=223505.0ms
+  sensor_polling: mean=398.4ms, total=1314.80s, count=3300, min=348.7ms, max=662.2ms
+  save_trajectories: mean=10.85s, total=108.49s, count=10, min=10340.8ms, max=11337.4ms
+  physics_step: mean=24.0ms, total=79.08s, count=3300, min=16.8ms, max=41.6ms
+  save_batch_prep: mean=2.96s, total=29.59s, count=10, min=2839.5ms, max=3089.3ms
+  task_sampling: mean=612.1ms, total=11.02s, count=18, min=336.7ms, max=3363.2ms
+  task_specific_sample: mean=447.2ms, total=8.05s, count=18, min=333.4ms, max=614.4ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2899.3ms, max=2899.3ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1804.5ms, max=1804.5ms
+  scene_compile: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
+  compile_mujoco: mean=665.6ms, total=665.6ms, count=1, min=665.6ms, max=665.6ms
+  compile_xml_load: mean=186.0ms, total=186.0ms, count=1, min=186.0ms, max=186.0ms
+  scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms
+  compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  scene_asset_install: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=2.0ms, total=36.2ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=18.7us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 03:19:12 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 03:19:12 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3447.40s
+  Worker averages:
+  episode_total: mean=104.97s, total=1889.52s, count=18, min=2552.6ms, max=223505.0ms
+  sensor_polling: mean=398.4ms, total=1314.80s, count=3300, min=348.7ms, max=662.2ms
+  save_trajectories: mean=10.85s, total=108.49s, count=10, min=10340.8ms, max=11337.4ms
+  physics_step: mean=24.0ms, total=79.08s, count=3300, min=16.8ms, max=41.6ms
+  save_batch_prep: mean=2.96s, total=29.59s, count=10, min=2839.5ms, max=3089.3ms
+  task_sampling: mean=612.1ms, total=11.02s, count=18, min=336.7ms, max=3363.2ms
+  task_specific_sample: mean=447.2ms, total=8.05s, count=18, min=333.4ms, max=614.4ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2899.3ms, max=2899.3ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1804.5ms, max=1804.5ms
+  scene_compile: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
+  compile_mujoco: mean=665.6ms, total=665.6ms, count=1, min=665.6ms, max=665.6ms
+  compile_xml_load: mean=186.0ms, total=186.0ms, count=1, min=186.0ms, max=186.0ms
+  scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms
+  compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  scene_asset_install: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=2.0ms, total=36.2ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=18.7us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 03:19:14 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 03:19:14 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/15 03:19:14 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/15 03:19:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 03:19:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_109	[save_utils.py: 785]
+05/15 03:19:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_109 in 14.42s (batch: 3.37s, save: 11.05s)	[pipeline.py: 300]
+05/15 03:19:21 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s:
+  episode_total: mean=171.52s, total=171.52s, count=1, min=171515.9ms, max=171515.9ms
+  sensor_polling: mean=407.7ms, total=122.31s, count=300, min=384.3ms, max=674.0ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11046.6ms, max=11046.6ms
+  physics_step: mean=23.4ms, total=7.03s, count=300, min=16.7ms, max=38.2ms
+  save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3369.9ms, max=3369.9ms
+  task_sampling: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
+  task_specific_sample: mean=448.8ms, total=448.8ms, count=1, min=448.8ms, max=448.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=12.3us, 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]
+05/15 03:19:22 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:19:22 WARNING: [Worker 0] No trajectory data to save for chunk_109	[pipeline.py: 234]
+05/15 03:19:22 INFO: [Worker 0] Worker 0 completed house 1: 6/7 successful episodes	[pipeline.py: 1323]
+05/15 03:19:22 INFO: [Worker 0] [PROFILE] House 1 complete: 6/7 successful, 7 episodes, total_time=3364.04s
+  House averages:
+  episode_total: mean=105.46s, total=1898.24s, count=18, min=2652.1ms, max=212562.7ms
+  sensor_polling: mean=423.8ms, total=1279.44s, count=3019, min=380.3ms, max=749.9ms
+  physics_step: mean=24.6ms, total=74.39s, count=3019, min=15.2ms, max=64.3ms
+  save_trajectories: mean=11.01s, total=66.06s, count=6, min=10688.3ms, max=11271.2ms
+  save_batch_prep: mean=3.19s, total=19.13s, count=6, min=2939.9ms, max=3541.5ms
+  task_sampling: mean=632.4ms, total=11.38s, count=18, min=321.2ms, max=3496.1ms
+  task_specific_sample: mean=462.6ms, total=8.33s, count=18, min=317.9ms, max=716.1ms
+  scene_load: mean=3.00s, total=3.00s, count=1, min=2996.7ms, max=2996.7ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1882.5ms, max=1882.5ms
+  scene_compile: mean=892.1ms, total=892.1ms, count=1, min=892.1ms, max=892.1ms
+  compile_mujoco: mean=609.7ms, total=609.7ms, count=1, min=609.7ms, max=609.7ms
+  compile_xml_load: mean=211.1ms, total=211.1ms, count=1, min=211.1ms, max=211.1ms
+  scene_init: mean=116.3ms, total=116.3ms, count=1, min=116.3ms, max=116.3ms
+  scene_asset_install: mean=105.4ms, total=105.4ms, count=1, min=105.4ms, max=105.4ms
+  asset_install_grasps: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_objects: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  scene_randomize: mean=1.6ms, total=29.1ms, count=18, min=1.1ms, max=2.9ms
+  asset_install_scene: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=491.2us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  policy_setup: mean=18.1us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 03:19:22 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 03:19:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 7 episodes, total_time=3364.04s
+  Worker averages:
+  episode_total: mean=105.46s, total=1898.24s, count=18, min=2652.1ms, max=212562.7ms
+  sensor_polling: mean=423.8ms, total=1279.44s, count=3019, min=380.3ms, max=749.9ms
+  physics_step: mean=24.6ms, total=74.39s, count=3019, min=15.2ms, max=64.3ms
+  save_trajectories: mean=11.01s, total=66.06s, count=6, min=10688.3ms, max=11271.2ms
+  save_batch_prep: mean=3.19s, total=19.13s, count=6, min=2939.9ms, max=3541.5ms
+  task_sampling: mean=632.4ms, total=11.38s, count=18, min=321.2ms, max=3496.1ms
+  task_specific_sample: mean=462.6ms, total=8.33s, count=18, min=317.9ms, max=716.1ms
+  scene_load: mean=3.00s, total=3.00s, count=1, min=2996.7ms, max=2996.7ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1882.5ms, max=1882.5ms
+  scene_compile: mean=892.1ms, total=892.1ms, count=1, min=892.1ms, max=892.1ms
+  compile_mujoco: mean=609.7ms, total=609.7ms, count=1, min=609.7ms, max=609.7ms
+  compile_xml_load: mean=211.1ms, total=211.1ms, count=1, min=211.1ms, max=211.1ms
+  scene_init: mean=116.3ms, total=116.3ms, count=1, min=116.3ms, max=116.3ms
+  scene_asset_install: mean=105.4ms, total=105.4ms, count=1, min=105.4ms, max=105.4ms
+  asset_install_grasps: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_objects: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  scene_randomize: mean=1.6ms, total=29.1ms, count=18, min=1.1ms, max=2.9ms
+  asset_install_scene: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=491.2us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  policy_setup: mean=18.1us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 03:19:25 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 03:19:25 INFO: Success count: 6, Total count: 7	[pipeline.py: 1491]
+05/15 03:19:25 INFO: Success rate: 85.71%	[pipeline.py: 1492]
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