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diff --git a/fridge_m_0.7_pd/chunk_006/running_log.log b/fridge_m_0.7_pd/chunk_006/running_log.log
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@@ -3154,3 +3154,3094 @@
 05/12 05:35:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
 05/12 05:35:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
 05/12 05:35:52 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:36:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:36:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:36:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:36:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:36:17 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:36:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 05:36:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.99s (batch: 4.17s, save: 11.81s)	[pipeline.py: 300]
+05/12 05:36:24 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.63s:
+  episode_total: mean=204.39s, total=204.39s, count=1, min=204386.1ms, max=204386.1ms
+  sensor_polling: mean=473.5ms, total=142.04s, count=300, min=392.8ms, max=1051.6ms
+  save_trajectories: mean=11.81s, total=11.81s, count=1, min=11813.5ms, max=11813.5ms
+  physics_step: mean=28.8ms, total=8.65s, count=300, min=17.1ms, max=36.9ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4174.1ms, max=4174.1ms
+  task_sampling: mean=627.5ms, total=627.5ms, count=1, min=627.5ms, max=627.5ms
+  task_specific_sample: mean=621.9ms, total=621.9ms, count=1, min=621.9ms, max=621.9ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=610.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=47.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:36:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083357m	[env.py: 870]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70700665  0.73778236  0.08335712] yaw=-204.5deg	[env.py: 1019]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05187042  1.14751532  0.08335712] yaw=-164.9deg	[env.py: 1019]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=197.0ms, total=197.0ms	[env.py: 1075]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.738, 0.083)	[env.py: 1079]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -204.5 deg	[env.py: 1082]
+05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:36:27 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:36:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:36:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:36:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:36:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:36:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.752[m] 101.116[deg]	[grasp_sample.py: 539]
+05/12 05:36:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:36:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:36:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:36:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:36:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:36:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:36:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.24s (batch: 3.81s, save: 12.43s)	[pipeline.py: 300]
+05/12 05:36:34 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.05s:
+  episode_total: mean=195.71s, total=195.71s, count=1, min=195707.4ms, max=195707.4ms
+  sensor_polling: mean=464.1ms, total=139.22s, count=300, min=392.4ms, max=850.0ms
+  save_trajectories: mean=12.43s, total=12.43s, count=1, min=12427.8ms, max=12427.8ms
+  physics_step: mean=28.7ms, total=8.60s, count=300, min=20.9ms, max=170.3ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.6ms, max=3807.6ms
+  task_sampling: mean=1.05s, total=1.05s, count=1, min=1051.7ms, max=1051.7ms
+  task_specific_sample: mean=1.05s, total=1.05s, count=1, min=1046.4ms, max=1046.4ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=628.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:36:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:36:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:36:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:36:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:36:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:36:36 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: 256]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000150m	[env.py: 870]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:36:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.20262302e+00  1.04150735e+00  1.49980665e-04] yaw=-129.8deg	[env.py: 1019]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.2ms, total=220.2ms	[env.py: 1075]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.203, 1.042, 0.000)	[env.py: 1079]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
+05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:36:36 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:36:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:36:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:36:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:36:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:36:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.976s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:36:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 98.665[deg]	[grasp_sample.py: 539]
+05/12 05:36:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:36:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:36:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:36:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:36:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:36:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:36:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.73s (batch: 3.69s, save: 12.04s)	[pipeline.py: 300]
+05/12 05:36:45 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.67s:
+  episode_total: mean=196.04s, total=196.04s, count=1, min=196040.2ms, max=196040.2ms
+  sensor_polling: mean=465.7ms, total=139.71s, count=300, min=393.8ms, max=915.2ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12035.3ms, max=12035.3ms
+  physics_step: mean=27.9ms, total=8.37s, count=300, min=21.6ms, max=46.3ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3693.9ms, max=3693.9ms
+  task_sampling: mean=666.5ms, total=666.5ms, count=1, min=666.5ms, max=666.5ms
+  task_specific_sample: mean=661.5ms, total=661.5ms, count=1, min=661.5ms, max=661.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=597.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=50.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:36:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:36:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:36:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:36:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:36:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:36:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082780m	[env.py: 870]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:36:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72755394  0.96102028  0.08278045] yaw=-140.0deg	[env.py: 1019]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83034545  0.21579977  0.08278045] yaw=158.9deg	[env.py: 1019]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71007881  0.09361929  0.08278045] yaw=160.8deg	[env.py: 1019]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:36:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.7ms	[env.py: 1075]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.728, 0.961, 0.083)	[env.py: 1079]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
+05/12 05:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/12 05:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:36:47 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:36:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:36:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:36:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:36:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:36:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.185s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:36:51 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.675[m] 87.304[deg]	[grasp_sample.py: 539]
+05/12 05:36:53 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:36:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:36:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:36:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:36:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:36:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:36:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084471m	[env.py: 870]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:36:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71302799  0.75975495  0.08447108] yaw=-163.0deg	[env.py: 1019]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98860132  0.8262079   0.08447108] yaw=-161.7deg	[env.py: 1019]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74338834  0.59267163  0.08447108] yaw=-184.7deg	[env.py: 1019]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.1ms, total=87.1ms	[env.py: 1075]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.713, 0.760, 0.084)	[env.py: 1079]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg	[env.py: 1082]
+05/12 05:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:36:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:36:54 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:36:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:36:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:36:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:36:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:36:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:36:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.219s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:36:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.615[m] 92.762[deg]	[grasp_sample.py: 539]
+05/12 05:36:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:36:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:36:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:36:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:37:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:37:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:37:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:37:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:37:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:37:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:37:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:38:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:38:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:38:20 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:38:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 05:38:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:38:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:38:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:38:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:38:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:38:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.255s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:38:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.055[deg]	[grasp_sample.py: 539]
+05/12 05:38:53 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:38:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:38:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:38:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:38:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067213m	[env.py: 870]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9625629   1.21405893  0.06721302] yaw=-143.9deg	[env.py: 1019]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78546188  0.09448591  0.06721302] yaw=159.2deg	[env.py: 1019]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73546877  0.48954918  0.06721302] yaw=-182.9deg	[env.py: 1019]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:38:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms	[env.py: 1075]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.963, 1.214, 0.067)	[env.py: 1079]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/12 05:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:38:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:38:55 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:38:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:38:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:38:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:38:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:39:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:39:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.610[m] 82.989[deg]	[grasp_sample.py: 539]
+05/12 05:39:03 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:39:03 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:39:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:39:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:39:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:39:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:39:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006644m	[env.py: 870]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98983966  0.24387301  0.00664422] yaw=170.5deg	[env.py: 1019]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05427404  0.91269535  0.00664422] yaw=-126.7deg	[env.py: 1019]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87194349  0.63587737  0.00664422] yaw=-154.5deg	[env.py: 1019]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:39:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.0ms, total=97.0ms	[env.py: 1075]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.244, 0.007)	[env.py: 1079]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
+05/12 05:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:39:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:39:05 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:39:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:39:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:39:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:39:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:39:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.19s (batch: 4.04s, save: 12.15s)	[pipeline.py: 300]
+05/12 05:39:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:39:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:39:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 89.850[deg]	[grasp_sample.py: 539]
+05/12 05:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:39:06 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.01s:
+  episode_total: mean=182.64s, total=365.28s, count=2, min=162085.1ms, max=203193.0ms
+  sensor_polling: mean=458.7ms, total=250.01s, count=545, min=368.2ms, max=966.9ms
+  physics_step: mean=29.0ms, total=15.83s, count=545, min=18.4ms, max=61.7ms
+  save_trajectories: mean=12.15s, total=12.15s, count=1, min=12151.8ms, max=12151.8ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
+  task_sampling: mean=502.8ms, total=1.01s, count=2, min=482.3ms, max=523.3ms
+  task_specific_sample: mean=498.2ms, total=996.4ms, count=2, min=477.5ms, max=518.9ms
+  scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.3ms, max=2.9ms
+  mj_forward_sync: mean=553.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=32.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:39:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:39:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:39:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:39:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:39:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:39:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:39:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:39:07 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: 178]
+05/12 05:39:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:39:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020028m	[env.py: 870]
+05/12 05:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:39:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74842314  1.00282951  0.02002751] yaw=-144.7deg	[env.py: 1019]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65992789  0.26112814  0.02002751] yaw=162.8deg	[env.py: 1019]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73370545  0.54260662  0.02002751] yaw=-207.6deg	[env.py: 1019]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:39:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.0ms, total=164.0ms	[env.py: 1075]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 1.003, 0.020)	[env.py: 1079]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.7 deg	[env.py: 1082]
+05/12 05:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/12 05:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:39:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:39:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:39:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:39:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:39:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:39:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:39:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.313s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:39:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.674[m] 87.435[deg]	[grasp_sample.py: 539]
+05/12 05:39:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:39:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:39:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:39:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:39:28 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:39:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:39:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:39:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:39:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:39:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:39:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:39:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:39:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 4.01s, save: 12.06s)	[pipeline.py: 300]
+05/12 05:39:48 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.51s:
+  episode_total: mean=201.62s, total=201.62s, count=1, min=201622.2ms, max=201622.2ms
+  sensor_polling: mean=469.4ms, total=140.82s, count=300, min=396.3ms, max=832.7ms
+  save_trajectories: mean=12.06s, total=12.06s, count=1, min=12062.1ms, max=12062.1ms
+  physics_step: mean=27.2ms, total=8.15s, count=300, min=17.4ms, max=38.8ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.3ms, max=4005.3ms
+  task_sampling: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
+  task_specific_sample: mean=502.0ms, total=502.0ms, count=1, min=502.0ms, max=502.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=473.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:39:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:39:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:39:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:39:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:39:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:39:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:39:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042778m	[env.py: 870]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:39:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96649459  1.03695592  0.04277768] yaw=-178.2deg	[env.py: 1019]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72803797  0.94295151  0.04277768] yaw=-142.9deg	[env.py: 1019]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73963715  0.0552421   0.04277768] yaw=149.8deg	[env.py: 1019]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:39:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms	[env.py: 1075]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.037, 0.043)	[env.py: 1079]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.2 deg	[env.py: 1082]
+05/12 05:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:39:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:39:50 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:39:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:39:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:39:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:39:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.024s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:39:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 88.054[deg]	[grasp_sample.py: 539]
+05/12 05:39:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:39:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:39:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:39:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:39:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:39:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:40:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:40:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:40:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.67s (batch: 3.96s, save: 10.70s)	[pipeline.py: 300]
+05/12 05:40:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.91s:
+  episode_total: mean=100.35s, total=200.71s, count=2, min=6277.8ms, max=194427.8ms
+  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=391.0ms, max=893.6ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10704.2ms, max=10704.2ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=21.8ms, max=49.0ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3963.6ms, max=3963.6ms
+  task_sampling: mean=453.3ms, total=906.5ms, count=2, min=367.9ms, max=538.6ms
+  task_specific_sample: mean=448.7ms, total=897.4ms, count=2, min=363.0ms, max=534.3ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.1ms, max=2.5ms
+  mj_forward_sync: mean=536.3us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:40:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:40:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:40:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:40:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:40:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:40:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:40:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039904m	[env.py: 870]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:40:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9264846   0.31431529  0.03990406] yaw=164.9deg	[env.py: 1019]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89893414  0.44093804  0.03990406] yaw=216.4deg	[env.py: 1019]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88818939  0.33413757  0.03990406] yaw=160.2deg	[env.py: 1019]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:40:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.2ms, total=156.3ms	[env.py: 1075]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.314, 0.040)	[env.py: 1079]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.9 deg	[env.py: 1082]
+05/12 05:40:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:40:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:40:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:40:11 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:40:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.319[m] 82.737[deg]	[grasp_sample.py: 539]
+05/12 05:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:40:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:40:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:40:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:40:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:40:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:40:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:40:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:41:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:41:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:41:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:41:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:41:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.980s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:41:03 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.107[m] 0.768[deg]	[grasp_sample.py: 539]
+05/12 05:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:41:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:41:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:41:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:41:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:41:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:41:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:41:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:41:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:41:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:41:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:41:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:41:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:41:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:41:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.749[deg]	[grasp_sample.py: 539]
+05/12 05:41:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:41:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:41:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:04 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:42:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 05:42:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:42:05 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:42:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:42:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:42:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:42:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:42:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:42:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.661[deg]	[grasp_sample.py: 539]
+05/12 05:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:42:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:42:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:16 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:42:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:42:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 4.93s, save: 11.15s)	[pipeline.py: 300]
+05/12 05:42:21 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s:
+  episode_total: mean=193.73s, total=193.73s, count=1, min=193733.9ms, max=193733.9ms
+  sensor_polling: mean=440.9ms, total=132.27s, count=300, min=368.6ms, max=888.9ms
+  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11145.1ms, max=11145.1ms
+  physics_step: mean=27.3ms, total=8.20s, count=300, min=17.9ms, max=64.8ms
+  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4928.8ms, max=4928.8ms
+  task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms
+  task_specific_sample: mean=479.1ms, total=479.1ms, count=1, min=479.1ms, max=479.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=519.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:42:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:42:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062282m	[env.py: 870]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05826244  1.14310075  0.06228188] yaw=-114.3deg	[env.py: 1019]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87682043  0.4548592   0.06228188] yaw=206.2deg	[env.py: 1019]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04467487  0.92383719  0.06228188] yaw=-142.5deg	[env.py: 1019]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.6ms, total=118.6ms	[env.py: 1075]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.143, 0.062)	[env.py: 1079]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.3 deg	[env.py: 1082]
+05/12 05:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:42:23 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:42:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:42:23 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]
+05/12 05:42:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:42:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:42:26 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.509[m] 88.434[deg]	[grasp_sample.py: 539]
+05/12 05:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:42:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:42:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:42:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:42:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:42:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:42:27 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.662[deg]	[grasp_sample.py: 539]
+05/12 05:42:28 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:42:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:42:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:42:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:42:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:42:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:42:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:42:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:42:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:42:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:42:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083872m	[env.py: 870]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:42:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95303755  1.13081771  0.08387191] yaw=-113.4deg	[env.py: 1019]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03288923  1.16858911  0.08387191] yaw=-162.6deg	[env.py: 1019]
+05/12 05:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.3ms	[env.py: 1075]
+05/12 05:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 1.131, 0.084)	[env.py: 1079]
+05/12 05:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.4 deg	[env.py: 1082]
+05/12 05:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/12 05:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:42:30 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:42:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:42:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:42:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:42:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:42:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 05:42:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:42:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.631[m] 94.177[deg]	[grasp_sample.py: 539]
+05/12 05:42:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:42:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:42:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:43 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:42:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:42:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:42:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:42:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/12 05:42:43 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 05:42:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.87s:
+  episode_total: mean=153.33s, total=153.33s, count=1, min=153325.5ms, max=153325.5ms
+  sensor_polling: mean=492.9ms, total=96.11s, count=195, min=402.6ms, max=934.0ms
+  physics_step: mean=28.6ms, total=5.57s, count=195, min=14.6ms, max=42.9ms
+  task_sampling: mean=866.4ms, total=866.4ms, count=1, min=866.4ms, max=866.4ms
+  task_specific_sample: mean=862.4ms, total=862.4ms, count=1, min=862.4ms, max=862.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=466.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:42:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:42:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:42:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:42:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:42:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:42:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059905m	[env.py: 870]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:42:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9370583   0.53158159  0.0599049 ] yaw=-198.4deg	[env.py: 1019]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76045774  0.35363405  0.0599049 ] yaw=138.4deg	[env.py: 1019]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71681379  0.11198095  0.0599049 ] yaw=177.8deg	[env.py: 1019]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:42:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.9ms, total=140.0ms	[env.py: 1075]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.532, 0.060)	[env.py: 1079]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.4 deg	[env.py: 1082]
+05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:42:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:42:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:42:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:42:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:42:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:42:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:42:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.368[m] 84.380[deg]	[grasp_sample.py: 539]
+05/12 05:42:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:42:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:42:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:42:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:42:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:42:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.92s (batch: 3.87s, save: 12.04s)	[pipeline.py: 300]
+05/12 05:42:47 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.41s:
+  episode_total: mean=122.89s, total=368.67s, count=3, min=8757.1ms, max=222429.5ms
+  sensor_polling: mean=448.2ms, total=249.18s, count=556, min=393.1ms, max=887.6ms
+  physics_step: mean=26.6ms, total=14.78s, count=556, min=17.5ms, max=48.8ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12042.5ms, max=12042.5ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.7ms, max=3874.7ms
+  task_sampling: mean=469.4ms, total=1.41s, count=3, min=368.8ms, max=580.3ms
+  task_specific_sample: mean=465.5ms, total=1.40s, count=3, min=365.1ms, max=576.2ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=468.7us, total=1.4ms, count=3, min=0.5ms, 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]
+05/12 05:42:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:42:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:42:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:42:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:42:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:42:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038975m	[env.py: 870]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:42:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93720887  0.94910493  0.03897483] yaw=-167.8deg	[env.py: 1019]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76879373 -0.01313969  0.03897483] yaw=156.5deg	[env.py: 1019]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92884737  0.34925672  0.03897483] yaw=188.5deg	[env.py: 1019]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:42:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.2ms, total=127.2ms	[env.py: 1075]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.949, 0.039)	[env.py: 1079]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/12 05:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:42:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:42:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:42:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:42:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 89.013[deg]	[grasp_sample.py: 539]
+05/12 05:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:42:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:42:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:43:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:43:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.35s (batch: 4.02s, save: 13.33s)	[pipeline.py: 300]
+05/12 05:43:01 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.55s:
+  episode_total: mean=191.39s, total=191.39s, count=1, min=191385.1ms, max=191385.1ms
+  sensor_polling: mean=443.0ms, total=132.89s, count=300, min=388.1ms, max=845.0ms
+  save_trajectories: mean=13.33s, total=13.33s, count=1, min=13327.9ms, max=13327.9ms
+  physics_step: mean=27.6ms, total=8.28s, count=300, min=18.1ms, max=34.7ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4024.6ms, max=4024.6ms
+  task_sampling: mean=551.1ms, total=551.1ms, count=1, min=551.1ms, max=551.1ms
+  task_specific_sample: mean=546.0ms, total=546.0ms, count=1, min=546.0ms, max=546.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=476.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:43:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:43:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:43:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040187m	[env.py: 870]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85496426  0.98375958  0.04018679] yaw=-168.8deg	[env.py: 1019]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98026236  1.0856014   0.04018679] yaw=-118.3deg	[env.py: 1019]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93033506  1.01094784  0.04018679] yaw=-114.2deg	[env.py: 1019]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:43:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=403.1ms, total=403.2ms	[env.py: 1075]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.984, 0.040)	[env.py: 1079]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg	[env.py: 1082]
+05/12 05:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/12 05:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:43:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:43:03 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:43:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:43:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:43:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:43:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:43:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 84.606[deg]	[grasp_sample.py: 539]
+05/12 05:43:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:43:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:43:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:43:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:43:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:43:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:43:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:44:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:44:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:44:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:44:49 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:45:08 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:45:15 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:45:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:45:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 05:45:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:45:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:45:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:45:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.02s (batch: 4.98s, save: 12.04s)	[pipeline.py: 300]
+05/12 05:45:34 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.89s:
+  episode_total: mean=94.85s, total=189.69s, count=2, min=4705.6ms, max=184986.9ms
+  sensor_polling: mean=410.3ms, total=123.08s, count=300, min=362.4ms, max=840.7ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12043.0ms, max=12043.0ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.5ms, max=66.7ms
+  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4975.3ms, max=4975.3ms
+  task_sampling: mean=443.1ms, total=886.1ms, count=2, min=421.5ms, max=464.6ms
+  task_specific_sample: mean=439.4ms, total=878.8ms, count=2, min=417.4ms, max=461.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=453.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:45:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:45:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:45:34 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/12 05:45:35 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:45:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:45:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:45:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:45:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:45:36 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: 256]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056908m	[env.py: 870]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6059867   0.48109889  0.05690767] yaw=147.6deg	[env.py: 1019]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75568793  0.18694036  0.05690767] yaw=156.7deg	[env.py: 1019]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.1ms	[env.py: 1075]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.606, 0.481, 0.057)	[env.py: 1079]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.6 deg	[env.py: 1082]
+05/12 05:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:45:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:45:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:45:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:45:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:45:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.701s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:45:39 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.776[m] 93.451[deg]	[grasp_sample.py: 539]
+05/12 05:45:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:45:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:45:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 05:45:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:45:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:45:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:45:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:45:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:45:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.03s (batch: 3.91s, save: 12.11s)	[pipeline.py: 300]
+05/12 05:45:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
+  episode_total: mean=186.38s, total=186.38s, count=1, min=186377.1ms, max=186377.1ms
+  sensor_polling: mean=437.4ms, total=127.72s, count=292, min=392.1ms, max=904.7ms
+  save_trajectories: mean=12.11s, total=12.11s, count=1, min=12113.4ms, max=12113.4ms
+  physics_step: mean=26.6ms, total=7.76s, count=292, min=16.9ms, max=62.8ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3913.4ms, max=3913.4ms
+  task_sampling: mean=417.5ms, total=417.5ms, count=1, min=417.5ms, max=417.5ms
+  task_specific_sample: mean=411.9ms, total=411.9ms, count=1, min=411.9ms, max=411.9ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=447.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:45:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:45:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:45:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:45:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:45:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:45:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:45:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037939m	[env.py: 870]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:45:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94980394  1.01189136  0.03793901] yaw=-111.5deg	[env.py: 1019]
+05/12 05:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71858635  0.44320832  0.03793901] yaw=141.9deg	[env.py: 1019]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7835751   0.77159199  0.03793901] yaw=-127.2deg	[env.py: 1019]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:45:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms	[env.py: 1075]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 1.012, 0.038)	[env.py: 1079]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.5 deg	[env.py: 1082]
+05/12 05:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/12 05:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:45:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:45:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:45:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:45:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:45:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:45:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:45:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:45:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:45:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.20s (batch: 3.05s, save: 12.15s)	[pipeline.py: 300]
+05/12 05:45:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:45:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 103.021[deg]	[grasp_sample.py: 539]
+05/12 05:45:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:45:56 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.47s:
+  episode_total: mean=187.32s, total=187.32s, count=1, min=187317.4ms, max=187317.4ms
+  sensor_polling: mean=446.5ms, total=133.94s, count=300, min=391.7ms, max=858.6ms
+  save_trajectories: mean=12.15s, total=12.15s, count=1, min=12148.7ms, max=12148.7ms
+  physics_step: mean=27.0ms, total=8.09s, count=300, min=17.1ms, max=73.3ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3049.1ms, max=3049.1ms
+  task_sampling: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
+  task_specific_sample: mean=469.9ms, total=469.9ms, count=1, min=469.9ms, max=469.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=616.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:45:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:45:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:45:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:45:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:45:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:45:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:45:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:45:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:45:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059702m	[env.py: 870]
+05/12 05:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:45:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73401096  0.15220339  0.05970187] yaw=128.6deg	[env.py: 1019]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77495077  0.5120022   0.05970187] yaw=-153.5deg	[env.py: 1019]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75068037  0.85895195  0.05970187] yaw=-141.7deg	[env.py: 1019]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:45:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.7ms	[env.py: 1075]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.152, 0.060)	[env.py: 1079]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.6 deg	[env.py: 1082]
+05/12 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/12 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:45:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:45:58 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:45:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:45:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:45:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:46:01 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:46:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:46:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:46:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:46:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.679[m] 97.514[deg]	[grasp_sample.py: 539]
+05/12 05:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:46:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:46:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:46:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:46:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:46:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:46:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.33s (batch: 3.98s, save: 11.36s)	[pipeline.py: 300]
+05/12 05:46:17 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.71s:
+  episode_total: mean=194.28s, total=194.28s, count=1, min=194279.7ms, max=194279.7ms
+  sensor_polling: mean=456.3ms, total=136.88s, count=300, min=386.1ms, max=845.0ms
+  save_trajectories: mean=11.36s, total=11.36s, count=1, min=11355.6ms, max=11355.6ms
+  physics_step: mean=25.9ms, total=7.76s, count=300, min=18.4ms, max=33.7ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3978.0ms, max=3978.0ms
+  task_sampling: mean=705.0ms, total=705.0ms, count=1, min=705.0ms, max=705.0ms
+  task_specific_sample: mean=699.8ms, total=699.8ms, count=1, min=699.8ms, max=699.8ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=625.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:46:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:46:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:46:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:46:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:46:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:46:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:46:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010196m	[env.py: 870]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:46:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75127756  0.3258698   0.0101964 ] yaw=199.1deg	[env.py: 1019]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93851028  0.77454029  0.0101964 ] yaw=-120.9deg	[env.py: 1019]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87417831  0.78540437  0.0101964 ] yaw=-127.3deg	[env.py: 1019]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:46:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=725.2ms, total=725.3ms	[env.py: 1075]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.326, 0.010)	[env.py: 1079]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.1 deg	[env.py: 1082]
+05/12 05:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/12 05:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:46:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:46:19 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:46:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:46:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:46:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:46:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:46:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:46:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 88.463[deg]	[grasp_sample.py: 539]
+05/12 05:46:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:46:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:46:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:46:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:46:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:46:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:46:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:46:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:46:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:46:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:47:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:47:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 13.261s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:47:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.269[m] 33.620[deg]	[grasp_sample.py: 539]
+05/12 05:47:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:47:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:47:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:47:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090518m	[env.py: 870]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76945813  0.08969269  0.09051761] yaw=182.5deg	[env.py: 1019]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73385201  0.6512815   0.09051761] yaw=-131.5deg	[env.py: 1019]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.6ms, total=378.7ms	[env.py: 1075]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.090, 0.091)	[env.py: 1079]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.5 deg	[env.py: 1082]
+05/12 05:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:47:09 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:47:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:47:12 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.654[m] 88.089[deg]	[grasp_sample.py: 539]
+05/12 05:47:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:47:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:47:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:47:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:47:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:47:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:47:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:47:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:47:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:48:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:48:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:48:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:48:17 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.809s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:48:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.433[deg]	[grasp_sample.py: 539]
+05/12 05:48:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:48:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:48:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:22 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:48:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:48:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:48:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:48:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:48:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:48:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:48:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:48:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:48:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:55 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.042s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:48:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.702[deg]	[grasp_sample.py: 539]
+05/12 05:48:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:48:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:48:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:48:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:48:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:48:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:48:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:48:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:48:58 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.698[deg]	[grasp_sample.py: 539]
+05/12 05:48:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:48:58 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 05:48:58 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.52s:
+  episode_total: mean=180.82s, total=180.82s, count=1, min=180821.7ms, max=180821.7ms
+  sensor_polling: mean=464.0ms, total=139.20s, count=300, min=387.7ms, max=859.4ms
+  physics_step: mean=27.2ms, total=8.15s, count=300, min=16.3ms, max=49.1ms
+  task_sampling: mean=516.1ms, total=516.1ms, count=1, min=516.1ms, max=516.1ms
+  task_specific_sample: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=786.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:48:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:48:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:49:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:49:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:49:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:49:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:49:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:49:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:49:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015527m	[env.py: 870]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:49:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90084637  0.91770029  0.01552741] yaw=-117.7deg	[env.py: 1019]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73713619  0.19997224  0.01552741] yaw=157.3deg	[env.py: 1019]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85034321  0.61878029  0.01552741] yaw=-164.6deg	[env.py: 1019]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:49:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.2ms, total=223.3ms	[env.py: 1075]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.918, 0.016)	[env.py: 1079]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.7 deg	[env.py: 1082]
+05/12 05:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:49:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:49:00 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:49:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:49:00 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:49:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:49:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:49:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:49:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:49:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:49:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 94.390[deg]	[grasp_sample.py: 539]
+05/12 05:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:49:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:49:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:49:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:49:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:49:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:49:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.13s (batch: 3.99s, save: 12.14s)	[pipeline.py: 300]
+05/12 05:49:07 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
+  episode_total: mean=194.16s, total=194.16s, count=1, min=194158.7ms, max=194158.7ms
+  sensor_polling: mean=451.2ms, total=135.36s, count=300, min=384.0ms, max=943.8ms
+  save_trajectories: mean=12.14s, total=12.14s, count=1, min=12143.0ms, max=12143.0ms
+  physics_step: mean=27.7ms, total=8.31s, count=300, min=17.2ms, max=65.4ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3985.1ms, max=3985.1ms
+  task_sampling: mean=420.5ms, total=420.5ms, count=1, min=420.5ms, max=420.5ms
+  task_specific_sample: mean=416.5ms, total=416.5ms, count=1, min=416.5ms, max=416.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=481.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:49:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:49:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:49:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:49:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:49:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:49:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:49:08 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: 256]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078718m	[env.py: 870]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:49:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74046237  0.76054627  0.07871807] yaw=-201.7deg	[env.py: 1019]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83252074  0.69852281  0.07871807] yaw=-201.4deg	[env.py: 1019]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89966966  0.17457793  0.07871807] yaw=194.4deg	[env.py: 1019]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:49:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=146.5ms, total=146.5ms	[env.py: 1075]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.761, 0.079)	[env.py: 1079]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.7 deg	[env.py: 1082]
+05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:49:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:49:08 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:49:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:49:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:49:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:49:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:49:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 85.542[deg]	[grasp_sample.py: 539]
+05/12 05:49:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:49:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:49:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:49:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:49:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:49:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:49:38 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:49:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:49:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:49:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.84s (batch: 4.19s, save: 11.65s)	[pipeline.py: 300]
+05/12 05:49:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.14s:
+  episode_total: mean=205.55s, total=205.55s, count=1, min=205554.9ms, max=205554.9ms
+  sensor_polling: mean=458.7ms, total=137.61s, count=300, min=396.2ms, max=877.6ms
+  save_trajectories: mean=11.65s, total=11.65s, count=1, min=11651.3ms, max=11651.3ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=19.8ms, max=47.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.6ms, max=4191.6ms
+  task_sampling: mean=1.14s, total=1.14s, count=1, min=1141.6ms, max=1141.6ms
+  task_specific_sample: mean=1.14s, total=1.14s, count=1, min=1137.4ms, max=1137.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:49:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:49:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:49:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:49:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:49:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067512m	[env.py: 870]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90415472  0.30726671  0.06751151] yaw=148.0deg	[env.py: 1019]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73465222 -0.03288401  0.06751151] yaw=141.2deg	[env.py: 1019]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82926377  0.40104415  0.06751151] yaw=135.6deg	[env.py: 1019]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.8ms, total=151.8ms	[env.py: 1075]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.307, 0.068)	[env.py: 1079]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.0 deg	[env.py: 1082]
+05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:49:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:49:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:49:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:49:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:49:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:49:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.430[m] 96.543[deg]	[grasp_sample.py: 539]
+05/12 05:49:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:49:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:49:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:49:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:49:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:50:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:50:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 05:50:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:50:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:50:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:50:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:50:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:50:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:50:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.51s (batch: 3.62s, save: 11.89s)	[pipeline.py: 300]
+05/12 05:50:20 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
+  episode_total: mean=141.00s, total=282.00s, count=2, min=90239.5ms, max=191758.5ms
+  sensor_polling: mean=442.2ms, total=187.05s, count=423, min=368.7ms, max=912.1ms
+  save_trajectories: mean=11.89s, total=11.89s, count=1, min=11888.1ms, max=11888.1ms
+  physics_step: mean=27.7ms, total=11.70s, count=423, min=16.8ms, max=62.6ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3623.1ms, max=3623.1ms
+  task_sampling: mean=603.8ms, total=1.21s, count=2, min=547.1ms, max=660.5ms
+  task_specific_sample: mean=599.6ms, total=1.20s, count=2, min=543.1ms, max=656.2ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=2.0ms, max=2.6ms
+  mj_forward_sync: mean=449.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:50:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:50:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:50:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:50:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:50:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:50:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:50:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:50:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068717m	[env.py: 870]
+05/12 05:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:50:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91390226  1.01232356  0.06871652] yaw=-168.2deg	[env.py: 1019]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0311609   0.11631465  0.06871652] yaw=172.0deg	[env.py: 1019]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8781705   1.04204368  0.06871652] yaw=-184.8deg	[env.py: 1019]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.2ms	[env.py: 1075]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 1.012, 0.069)	[env.py: 1079]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg	[env.py: 1082]
+05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:50:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:50:22 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:50:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:50:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:50:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:50:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 87.613[deg]	[grasp_sample.py: 539]
+05/12 05:50:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:50:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:50:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:50:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:50:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:50:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:50:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:51:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:51:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:51:29 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:51:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:51:35 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:51:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:51:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:51:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:51:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:51:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:51:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:51:50 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:51:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.298[deg]	[grasp_sample.py: 539]
+05/12 05:51:51 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:51:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:51:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:51:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:51:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:51:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:51:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:51:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004727m	[env.py: 870]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:51:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88635386  0.13859858  0.00472683] yaw=192.9deg	[env.py: 1019]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88062849  0.38614187  0.00472683] yaw=192.7deg	[env.py: 1019]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11297737  1.10218576  0.00472683] yaw=-166.1deg	[env.py: 1019]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:51:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=156.0ms	[env.py: 1075]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.139, 0.005)	[env.py: 1079]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.9 deg	[env.py: 1082]
+05/12 05:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:51:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:51:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:51:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:51:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:51:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:51:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:51:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:51:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 87.572[deg]	[grasp_sample.py: 539]
+05/12 05:51:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:51:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:51:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:51:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:51:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:51:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 05:51:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:52:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:52:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:52:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:52:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:52:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.86s (batch: 4.15s, save: 10.72s)	[pipeline.py: 300]
+05/12 05:52:14 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=194.55s, total=194.55s, count=1, min=194545.9ms, max=194545.9ms
+  sensor_polling: mean=450.9ms, total=135.27s, count=300, min=387.2ms, max=937.9ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10718.2ms, max=10718.2ms
+  physics_step: mean=27.3ms, total=8.19s, count=300, min=17.1ms, max=44.1ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.2ms, max=4145.2ms
+  task_sampling: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  task_specific_sample: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=461.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:52:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:52:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:52:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:52:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017142m	[env.py: 870]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79665134  0.08765     0.01714151] yaw=146.2deg	[env.py: 1019]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.8ms, total=273.9ms	[env.py: 1075]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.088, 0.017)	[env.py: 1079]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.2 deg	[env.py: 1082]
+05/12 05:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:52:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:52:16 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:52:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:52:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:52:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:52:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.30s (batch: 3.73s, save: 12.57s)	[pipeline.py: 300]
+05/12 05:52:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.303s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:52:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.587[m] 93.026[deg]	[grasp_sample.py: 539]
+05/12 05:52:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:52:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:52:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:52:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.48s:
+  episode_total: mean=190.28s, total=190.28s, count=1, min=190277.2ms, max=190277.2ms
+  sensor_polling: mean=440.2ms, total=132.05s, count=300, min=390.2ms, max=895.4ms
+  save_trajectories: mean=12.57s, total=12.57s, count=1, min=12571.5ms, max=12571.5ms
+  physics_step: mean=27.5ms, total=8.25s, count=300, min=21.7ms, max=45.3ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3726.3ms, max=3726.3ms
+  task_sampling: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
+  task_specific_sample: mean=474.2ms, total=474.2ms, count=1, min=474.2ms, max=474.2ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=644.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:52:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:52:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:52:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:52:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004712m	[env.py: 870]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92075915  0.36085368  0.00471177] yaw=167.5deg	[env.py: 1019]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00149053  0.17199186  0.00471177] yaw=128.2deg	[env.py: 1019]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04456088  1.23087217  0.00471177] yaw=-91.9deg	[env.py: 1019]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.3ms, total=232.4ms	[env.py: 1075]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.361, 0.005)	[env.py: 1079]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg	[env.py: 1082]
+05/12 05:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:52:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:52:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:52:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:52:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:52:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:52:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:52:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 87.819[deg]	[grasp_sample.py: 539]
+05/12 05:52:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:52:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:52:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:52:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:52:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:52:52 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:52:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:53:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:53:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:53:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:53:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:53:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:53:18 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:53:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 05:53:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:53:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:53:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:53:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:53:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:53:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.77s (batch: 4.07s, save: 13.69s)	[pipeline.py: 300]
+05/12 05:53:36 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
+  episode_total: mean=194.75s, total=194.75s, count=1, min=194746.5ms, max=194746.5ms
+  sensor_polling: mean=451.3ms, total=135.38s, count=300, min=380.7ms, max=852.1ms
+  save_trajectories: mean=13.69s, total=13.69s, count=1, min=13693.6ms, max=13693.6ms
+  physics_step: mean=28.2ms, total=8.47s, count=300, min=17.6ms, max=75.9ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.4ms, max=4074.4ms
+  task_sampling: mean=523.5ms, total=523.5ms, count=1, min=523.5ms, max=523.5ms
+  task_specific_sample: mean=519.3ms, total=519.3ms, count=1, min=519.3ms, max=519.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=450.9us, 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]
+05/12 05:53:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:53:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:53:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:53:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:53:38 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: 178]
+05/12 05:53:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:53:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035574m	[env.py: 870]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:53:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21584108  1.06444183  0.03557443] yaw=-161.6deg	[env.py: 1019]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62116189  0.30973083  0.03557443] yaw=165.9deg	[env.py: 1019]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95070177  1.02780774  0.03557443] yaw=-125.3deg	[env.py: 1019]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:53:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.4ms, total=131.5ms	[env.py: 1075]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.216, 1.064, 0.036)	[env.py: 1079]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg	[env.py: 1082]
+05/12 05:53:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:53:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:53:38 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:53:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:53:38 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]
+05/12 05:53:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:53:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:53:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:53:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 79.609[deg]	[grasp_sample.py: 539]
+05/12 05:53:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:53:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:53:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:54:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:54:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:54:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:54:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:54:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:54:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:54:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:54:52 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.846[deg]	[grasp_sample.py: 539]
+05/12 05:54:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:54:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:54:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:54:54 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:54:56 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:55:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:55:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 05:55:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:55:20 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:55:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:55:20 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/12 05:55:26 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:55:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:55:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:55:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:55:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:55:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.74s (batch: 4.27s, save: 11.47s)	[pipeline.py: 300]
+05/12 05:55:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.57s:
+  episode_total: mean=191.09s, total=191.09s, count=1, min=191093.0ms, max=191093.0ms
+  sensor_polling: mean=450.2ms, total=135.07s, count=300, min=403.1ms, max=918.6ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11468.2ms, max=11468.2ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=17.5ms, max=35.4ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.2ms, max=4270.2ms
+  task_sampling: mean=567.4ms, total=567.4ms, count=1, min=567.4ms, max=567.4ms
+  task_specific_sample: mean=563.1ms, total=563.1ms, count=1, min=563.1ms, max=563.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=478.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:55:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:55:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:55:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:55:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088885m	[env.py: 870]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02151517  1.2603643   0.08888477] yaw=-118.0deg	[env.py: 1019]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96374264  0.88779954  0.08888477] yaw=-172.0deg	[env.py: 1019]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.7ms, total=218.7ms	[env.py: 1075]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.260, 0.089)	[env.py: 1079]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.0 deg	[env.py: 1082]
+05/12 05:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:55:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:55:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:55:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:55:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.824s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:55:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 89.035[deg]	[grasp_sample.py: 539]
+05/12 05:55:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:55:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:55:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:55:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:55:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:55:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.92s (batch: 3.87s, save: 12.05s)	[pipeline.py: 300]
+05/12 05:55:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.61s:
+  episode_total: mean=196.27s, total=196.27s, count=1, min=196267.4ms, max=196267.4ms
+  sensor_polling: mean=457.3ms, total=131.71s, count=288, min=388.3ms, max=928.9ms
+  save_trajectories: mean=12.05s, total=12.05s, count=1, min=12050.6ms, max=12050.6ms
+  physics_step: mean=27.9ms, total=8.03s, count=288, min=16.9ms, max=61.5ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms
+  task_sampling: mean=609.4ms, total=609.4ms, count=1, min=609.4ms, max=609.4ms
+  task_specific_sample: mean=605.5ms, total=605.5ms, count=1, min=605.5ms, max=605.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=463.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:55:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:55:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:55:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:55:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:55:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:55:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:55:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068775m	[env.py: 870]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:55:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72632687  0.5379623   0.06877501] yaw=-146.9deg	[env.py: 1019]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97800704  0.90919548  0.06877501] yaw=-159.0deg	[env.py: 1019]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80147971  0.06900318  0.06877501] yaw=170.8deg	[env.py: 1019]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:55:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms	[env.py: 1075]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.538, 0.069)	[env.py: 1079]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
+05/12 05:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/12 05:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:55:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:55:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:55:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:55:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:55:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:55:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:55:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:55:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.00s (batch: 4.51s, save: 11.48s)	[pipeline.py: 300]
+05/12 05:55:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:55:42 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.599[m] 84.303[deg]	[grasp_sample.py: 539]
+05/12 05:55:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:55:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:55:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:55:43 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.89s:
+  episode_total: mean=178.21s, total=356.42s, count=2, min=126179.6ms, max=230236.5ms
+  sensor_polling: mean=460.2ms, total=230.57s, count=501, min=401.4ms, max=946.8ms
+  physics_step: mean=27.1ms, total=13.59s, count=501, min=16.9ms, max=49.2ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11482.0ms, max=11482.0ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4513.1ms, max=4513.1ms
+  task_sampling: mean=446.7ms, total=893.5ms, count=2, min=425.8ms, max=467.7ms
+  task_specific_sample: mean=441.8ms, total=883.5ms, count=2, min=420.3ms, max=463.2ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.0ms, max=2.9ms
+  mj_forward_sync: mean=456.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  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]
+05/12 05:55:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:55:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:55:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:55:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:55:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:55:44 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: 178]
+05/12 05:55:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:55:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021487m	[env.py: 870]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:55:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=735.8ms, total=735.9ms	[env.py: 1105]
+05/12 05:55:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 05:55:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 05:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:55:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:55:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082737m	[env.py: 870]
+05/12 05:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72621968  0.54553874  0.08273661] yaw=-181.9deg	[env.py: 1019]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67944252  0.51531677  0.08273661] yaw=-172.6deg	[env.py: 1019]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71555601  0.40324484  0.08273661] yaw=171.6deg	[env.py: 1019]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:55:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.2ms, total=187.3ms	[env.py: 1075]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.546, 0.083)	[env.py: 1079]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg	[env.py: 1082]
+05/12 05:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/12 05:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:55:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:55:47 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:55:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:55:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:55:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:55:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.880s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:55:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 83.699[deg]	[grasp_sample.py: 539]
+05/12 05:55:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:55:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:55:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:55:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:56:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:56:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:56:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:56:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:56:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:56:02 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:56:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.513[deg]	[grasp_sample.py: 539]
+05/12 05:56:04 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:56:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:56:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:56:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:56:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:56:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:56:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:56:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076609m	[env.py: 870]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:56:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02851327  1.30014406  0.07660867] yaw=-105.3deg	[env.py: 1019]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68714396  0.37282644  0.07660867] yaw=193.7deg	[env.py: 1019]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:56:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=442.4ms, total=442.5ms	[env.py: 1075]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.029, 1.300, 0.077)	[env.py: 1079]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.3 deg	[env.py: 1082]
+05/12 05:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:56:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:56:06 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:56:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:56:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:56:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:56:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:56:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.719s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 05:56:09 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 05:56:11 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 05:56:11 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 05:56:11 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/12 05:56:11 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=4505.44s
+  House averages:
+  episode_total: mean=140.12s, total=2522.15s, count=18, min=237.3ms, max=233629.1ms
+  sensor_polling: mean=441.3ms, total=1700.52s, count=3853, min=362.4ms, max=966.9ms
+  save_trajectories: mean=12.02s, total=108.21s, count=9, min=11112.7ms, max=13693.6ms
+  physics_step: mean=27.7ms, total=106.71s, count=3853, min=16.8ms, max=80.1ms
+  save_batch_prep: mean=4.35s, total=39.11s, count=9, min=3623.1ms, max=4975.3ms
+  task_sampling: mean=723.7ms, total=12.30s, count=17, min=419.2ms, max=3180.7ms
+  task_specific_sample: mean=539.5ms, total=9.71s, count=18, min=231.0ms, max=960.3ms
+  scene_load: mean=2.75s, total=2.75s, count=1, min=2753.3ms, max=2753.3ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1728.1ms, max=1728.1ms
+  scene_compile: mean=853.3ms, total=853.3ms, count=1, min=853.3ms, max=853.3ms
+  compile_mujoco: mean=591.4ms, total=591.4ms, count=1, min=591.4ms, max=591.4ms
+  task_sampling_failed: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
+  compile_xml_load: mean=187.5ms, total=187.5ms, count=1, min=187.5ms, max=187.5ms
+  scene_init: mean=121.4ms, total=121.4ms, count=1, min=121.4ms, max=121.4ms
+  compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_asset_install: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms
+  scene_randomize: mean=2.2ms, total=40.2ms, count=18, min=1.2ms, max=3.1ms
+  asset_install_grasps: mean=35.8ms, total=35.8ms, count=1, min=35.8ms, max=35.8ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  mj_forward_sync: mean=501.5us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=23.1us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 05:56:11 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 05:56:11 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=4505.44s
+  Worker averages:
+  episode_total: mean=140.12s, total=2522.15s, count=18, min=237.3ms, max=233629.1ms
+  sensor_polling: mean=441.3ms, total=1700.52s, count=3853, min=362.4ms, max=966.9ms
+  save_trajectories: mean=12.02s, total=108.21s, count=9, min=11112.7ms, max=13693.6ms
+  physics_step: mean=27.7ms, total=106.71s, count=3853, min=16.8ms, max=80.1ms
+  save_batch_prep: mean=4.35s, total=39.11s, count=9, min=3623.1ms, max=4975.3ms
+  task_sampling: mean=723.7ms, total=12.30s, count=17, min=419.2ms, max=3180.7ms
+  task_specific_sample: mean=539.5ms, total=9.71s, count=18, min=231.0ms, max=960.3ms
+  scene_load: mean=2.75s, total=2.75s, count=1, min=2753.3ms, max=2753.3ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1728.1ms, max=1728.1ms
+  scene_compile: mean=853.3ms, total=853.3ms, count=1, min=853.3ms, max=853.3ms
+  compile_mujoco: mean=591.4ms, total=591.4ms, count=1, min=591.4ms, max=591.4ms
+  task_sampling_failed: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms
+  compile_xml_load: mean=187.5ms, total=187.5ms, count=1, min=187.5ms, max=187.5ms
+  scene_init: mean=121.4ms, total=121.4ms, count=1, min=121.4ms, max=121.4ms
+  compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_asset_install: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms
+  scene_randomize: mean=2.2ms, total=40.2ms, count=18, min=1.2ms, max=3.1ms
+  asset_install_grasps: mean=35.8ms, total=35.8ms, count=1, min=35.8ms, max=35.8ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  mj_forward_sync: mean=501.5us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=23.1us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 05:56:14 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 05:56:14 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/12 05:56:14 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/12 05:56:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:56:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:56:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:56:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:56:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:56:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:56:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:56:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:56:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:57:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:57:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:57:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:57:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:57:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:57:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:57:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.754s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 05:57:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 05:57:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:57:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:57:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:57:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:57:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:57:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:57:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023515m	[env.py: 870]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:57:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87653996  0.20867242  0.02351489] yaw=128.0deg	[env.py: 1019]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69193407  0.78887889  0.02351489] yaw=-161.8deg	[env.py: 1019]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67707142  0.24966466  0.02351489] yaw=139.8deg	[env.py: 1019]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:57:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.0ms, total=223.0ms	[env.py: 1075]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.209, 0.024)	[env.py: 1079]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.0 deg	[env.py: 1082]
+05/12 05:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:57:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:57:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:57:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:57:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:57:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:57:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:57:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:57:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.918s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:57:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.526[m] 95.314[deg]	[grasp_sample.py: 539]
+05/12 05:57:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:57:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:57:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:57:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:58:03 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:58:07 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 05:58:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:58:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:58:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:58:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 05:58:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:58:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:58:36 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 05:58:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 05:58:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 05:58:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:58:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:58:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.14s (batch: 3.69s, save: 11.45s)	[pipeline.py: 300]
+05/12 05:58:45 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s:
+  episode_total: mean=187.48s, total=187.48s, count=1, min=187480.8ms, max=187480.8ms
+  sensor_polling: mean=430.7ms, total=129.22s, count=300, min=391.5ms, max=892.3ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11448.3ms, max=11448.3ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=21.7ms, max=33.4ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3694.9ms, max=3694.9ms
+  task_sampling: mean=466.4ms, total=466.4ms, count=1, min=466.4ms, max=466.4ms
+  task_specific_sample: mean=462.3ms, total=462.3ms, count=1, min=462.3ms, max=462.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=463.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:58:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:58:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:58:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:58:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:58:46 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: 178]
+05/12 05:58:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:58:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051308m	[env.py: 870]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:58:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99545835  0.81750716  0.05130798] yaw=-117.3deg	[env.py: 1019]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7937591   0.35534117  0.05130798] yaw=158.0deg	[env.py: 1019]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84742441  0.47729965  0.05130798] yaw=208.2deg	[env.py: 1019]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:58:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, 0.818, 0.051)	[env.py: 1079]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.3 deg	[env.py: 1082]
+05/12 05:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:58:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:58:47 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:58:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:58:47 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]
+05/12 05:58:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:58:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:58:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:58:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 94.479[deg]	[grasp_sample.py: 539]
+05/12 05:58:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:58:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:58:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:58:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 05:58:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 05:58:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.38s (batch: 4.24s, save: 11.14s)	[pipeline.py: 300]
+05/12 05:58:52 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.49s:
+  episode_total: mean=93.16s, total=186.33s, count=2, min=752.8ms, max=185575.3ms
+  sensor_polling: mean=423.6ms, total=127.08s, count=300, min=393.9ms, max=844.1ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11143.0ms, max=11143.0ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=16.8ms, max=68.5ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4238.7ms, max=4238.7ms
+  task_specific_sample: mean=616.7ms, total=1.23s, count=2, min=490.9ms, max=742.5ms
+  task_sampling_failed: mean=752.8ms, total=752.8ms, count=1, min=752.8ms, max=752.8ms
+  task_sampling: mean=494.8ms, total=494.8ms, count=1, min=494.8ms, max=494.8ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.7ms, max=2.8ms
+  mj_forward_sync: mean=469.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 05:58:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:58:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:58:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:58:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:58:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:58:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:58:53 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: 256]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022599m	[env.py: 870]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:58:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63191365  0.28772445  0.02259873] yaw=134.3deg	[env.py: 1019]
+05/12 05:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9435022   0.15717729  0.02259873] yaw=135.4deg	[env.py: 1019]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:58:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=212.1ms, total=212.2ms	[env.py: 1075]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.288, 0.023)	[env.py: 1079]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.3 deg	[env.py: 1082]
+05/12 05:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/12 05:58:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:58:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:58:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:58:54 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:58:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:58:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:58:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:58:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:58:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.754[m] 102.073[deg]	[grasp_sample.py: 539]
+05/12 05:58:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:58:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:58:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:58:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 05:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 05:59:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 05:59:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 05:59:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:59:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:59:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:59:40 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:59:40 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.364[deg]	[grasp_sample.py: 539]
+05/12 05:59:41 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 05:59:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 05:59:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 05:59:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:59:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 05:59:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 05:59:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 05:59:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010517m	[env.py: 870]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 05:59:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04491481  0.99970871  0.01051727] yaw=-104.2deg	[env.py: 1019]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84810408  0.43789465  0.01051727] yaw=173.4deg	[env.py: 1019]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05585867  1.1093318   0.01051727] yaw=-99.0deg	[env.py: 1019]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 05:59:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.6ms, total=94.6ms	[env.py: 1075]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 1.000, 0.011)	[env.py: 1079]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.2 deg	[env.py: 1082]
+05/12 05:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 05:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 05:59:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 05:59:43 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 05:59:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 05:59:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 05:59:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 05:59:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 05:59:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 05:59:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 05:59:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 91.745[deg]	[grasp_sample.py: 539]
+05/12 05:59:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 05:59:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 05:59:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 05:59:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:00:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:00:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:00:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:00:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:00:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:00:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:00:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:00:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:00:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:00:51 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.024s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:00:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.027[m] 0.570[deg]	[grasp_sample.py: 539]
+05/12 06:00:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:00:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:00:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:00:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:01:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:01:06 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:01:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:31 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 06:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:01:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:01:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:01:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:01:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:01:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:01:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:01:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:01:38 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.875[deg]	[grasp_sample.py: 539]
+05/12 06:01:40 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:01:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:01:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:01:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:01:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087460m	[env.py: 870]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69896559  0.87833825  0.08745973] yaw=-125.1deg	[env.py: 1019]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72442007  0.73802754  0.08745973] yaw=-133.7deg	[env.py: 1019]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.9ms	[env.py: 1075]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.878, 0.087)	[env.py: 1079]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.1 deg	[env.py: 1082]
+05/12 06:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:01:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:01:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:01:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:01:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:01:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:01:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:01:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.157s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:01:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.714[m] 90.410[deg]	[grasp_sample.py: 539]
+05/12 06:01:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:01:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:01:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 06:01:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.61s (batch: 3.84s, save: 11.77s)	[pipeline.py: 300]
+05/12 06:01:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:01:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:01:48 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
+  episode_total: mean=181.31s, total=181.31s, count=1, min=181306.0ms, max=181306.0ms
+  sensor_polling: mean=426.9ms, total=128.06s, count=300, min=385.1ms, max=919.8ms
+  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11770.8ms, max=11770.8ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=16.9ms, max=33.1ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3839.8ms, max=3839.8ms
+  task_sampling: mean=429.2ms, total=429.2ms, count=1, min=429.2ms, max=429.2ms
+  task_specific_sample: mean=425.2ms, total=425.2ms, count=1, min=425.2ms, max=425.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=460.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:01:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:01:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:01:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:01:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:01:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:01:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065442m	[env.py: 870]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05190267  1.13956102  0.06544204] yaw=-171.2deg	[env.py: 1019]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77383834  0.42507043  0.06544204] yaw=197.4deg	[env.py: 1019]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87568402  0.97355747  0.06544204] yaw=-122.6deg	[env.py: 1019]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms	[env.py: 1075]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 1.140, 0.065)	[env.py: 1079]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg	[env.py: 1082]
+05/12 06:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:01:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:01:49 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:01:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:01:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:01:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:01:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:01:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:01:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 93.118[deg]	[grasp_sample.py: 539]
+05/12 06:01:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:01:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:01:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:02:05 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:02:32 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 06:02:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:02:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:02:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:02:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:02:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 06:02:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.24s (batch: 4.60s, save: 10.64s)	[pipeline.py: 300]
+05/12 06:02:48 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.41s:
+  episode_total: mean=145.62s, total=436.85s, count=3, min=121319.0ms, max=185485.6ms
+  sensor_polling: mean=436.1ms, total=333.59s, count=765, min=382.5ms, max=978.5ms
+  physics_step: mean=25.8ms, total=19.72s, count=765, min=19.2ms, max=39.3ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10638.2ms, max=10638.2ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4600.7ms, max=4600.7ms
+  task_sampling: mean=469.0ms, total=1.41s, count=3, min=377.1ms, max=523.8ms
+  task_specific_sample: mean=464.9ms, total=1.39s, count=3, min=373.5ms, max=519.5ms
+  scene_randomize: mean=2.1ms, total=6.4ms, count=3, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=508.9us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:02:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:02:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:02:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:02:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:02:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:02:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:02:49 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: 256]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078726m	[env.py: 870]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:02:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91930916  0.85102572  0.0787259 ] yaw=-193.7deg	[env.py: 1019]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84876463  0.35518003  0.0787259 ] yaw=157.7deg	[env.py: 1019]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.2ms	[env.py: 1075]
+05/12 06:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.851, 0.079)	[env.py: 1079]
+05/12 06:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.7 deg	[env.py: 1082]
+05/12 06:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/12 06:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:02:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:02:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:02:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:02:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:02:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:02:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:02:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 79.987[deg]	[grasp_sample.py: 539]
+05/12 06:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:02:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:02:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:02:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:02:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:02:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:03:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:03:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:03:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:03:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:03:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:04:03 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:04:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:04:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:04:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:04:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:04:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:04:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:04:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 6.926s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:04:16 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.223[m] 3.611[deg]	[grasp_sample.py: 539]
+05/12 06:04:17 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:04:19 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 06:04:19 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 06:04:19 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes	[pipeline.py: 1323]
+05/12 06:04:19 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=5477.37s
+  House averages:
+  episode_total: mean=167.64s, total=3017.61s, count=18, min=6277.8ms, max=201690.7ms
+  sensor_polling: mean=452.5ms, total=2096.95s, count=4634, min=384.0ms, max=943.8ms
+  save_trajectories: mean=11.79s, total=153.25s, count=13, min=10704.2ms, max=12571.5ms
+  physics_step: mean=27.2ms, total=126.21s, count=4634, min=14.6ms, max=65.4ms
+  save_batch_prep: mean=3.92s, total=51.02s, count=13, min=3592.2ms, max=4746.7ms
+  task_sampling: mean=754.1ms, total=13.57s, count=18, min=367.9ms, max=4566.9ms
+  task_specific_sample: mean=543.9ms, total=9.79s, count=18, min=363.0ms, max=862.4ms
+  scene_load: mean=3.71s, total=3.71s, count=1, min=3707.6ms, max=3707.6ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2137.1ms, max=2137.1ms
+  scene_compile: mean=1.40s, total=1.40s, count=1, min=1399.1ms, max=1399.1ms
+  compile_mujoco: mean=789.5ms, total=789.5ms, count=1, min=789.5ms, max=789.5ms
+  compile_xml_load: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
+  scene_init: mean=116.9ms, total=116.9ms, count=1, min=116.9ms, max=116.9ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_randomize: mean=2.4ms, total=43.1ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_robot_add: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  mj_forward_sync: mean=505.5us, total=9.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=25.0us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 06:04:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:04:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5477.37s
+  Worker averages:
+  episode_total: mean=167.64s, total=3017.61s, count=18, min=6277.8ms, max=201690.7ms
+  sensor_polling: mean=452.5ms, total=2096.95s, count=4634, min=384.0ms, max=943.8ms
+  save_trajectories: mean=11.79s, total=153.25s, count=13, min=10704.2ms, max=12571.5ms
+  physics_step: mean=27.2ms, total=126.21s, count=4634, min=14.6ms, max=65.4ms
+  save_batch_prep: mean=3.92s, total=51.02s, count=13, min=3592.2ms, max=4746.7ms
+  task_sampling: mean=754.1ms, total=13.57s, count=18, min=367.9ms, max=4566.9ms
+  task_specific_sample: mean=543.9ms, total=9.79s, count=18, min=363.0ms, max=862.4ms
+  scene_load: mean=3.71s, total=3.71s, count=1, min=3707.6ms, max=3707.6ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2137.1ms, max=2137.1ms
+  scene_compile: mean=1.40s, total=1.40s, count=1, min=1399.1ms, max=1399.1ms
+  compile_mujoco: mean=789.5ms, total=789.5ms, count=1, min=789.5ms, max=789.5ms
+  compile_xml_load: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
+  scene_init: mean=116.9ms, total=116.9ms, count=1, min=116.9ms, max=116.9ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_randomize: mean=2.4ms, total=43.1ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_robot_add: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  mj_forward_sync: mean=505.5us, total=9.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=25.0us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 06:04:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:04:22 INFO: Success count: 13, Total count: 15	[pipeline.py: 1491]
+05/12 06:04:22 INFO: Success rate: 86.67%	[pipeline.py: 1492]
+05/12 06:04:32 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 06:04:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:04:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:04:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:04:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 06:04:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.09s (batch: 4.18s, save: 10.91s)	[pipeline.py: 300]
+05/12 06:04:48 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.99s:
+  episode_total: mean=176.35s, total=352.69s, count=2, min=166186.4ms, max=186506.0ms
+  sensor_polling: mean=433.6ms, total=249.31s, count=575, min=385.7ms, max=914.4ms
+  physics_step: mean=24.8ms, total=14.24s, count=575, min=16.6ms, max=34.3ms
+  save_trajectories: mean=10.91s, total=10.91s, count=1, min=10908.3ms, max=10908.3ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.4ms, max=4178.4ms
+  task_sampling: mean=496.0ms, total=992.1ms, count=2, min=471.5ms, max=520.6ms
+  task_specific_sample: mean=492.1ms, total=984.2ms, count=2, min=468.1ms, max=516.1ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=451.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:04:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:04:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:04:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:04:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:04:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:04:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:04:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015886m	[env.py: 870]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:04:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99721297  1.06647985  0.01588569] yaw=-151.9deg	[env.py: 1019]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91908606  0.25386559  0.01588569] yaw=179.2deg	[env.py: 1019]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88880855  1.20919556  0.01588569] yaw=-123.2deg	[env.py: 1019]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:04:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.9ms, total=201.0ms	[env.py: 1075]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.066, 0.016)	[env.py: 1079]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
+05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:04:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:04:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:04:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:04:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:04:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:04:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:04:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:04:52 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.501[m] 82.978[deg]	[grasp_sample.py: 539]
+05/12 06:04:54 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:04:56 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 06:04:56 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 06:04:56 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/12 06:04:56 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5470.32s
+  House averages:
+  episode_total: mean=169.62s, total=3053.17s, count=18, min=752.8ms, max=237307.2ms
+  sensor_polling: mean=450.9ms, total=2052.06s, count=4551, min=385.7ms, max=1051.6ms
+  save_trajectories: mean=11.91s, total=154.78s, count=13, min=10908.3ms, max=14405.8ms
+  physics_step: mean=26.6ms, total=121.14s, count=4551, min=16.6ms, max=68.5ms
+  save_batch_prep: mean=4.20s, total=54.55s, count=13, min=3909.0ms, max=4668.2ms
+  task_sampling: mean=836.3ms, total=14.22s, count=17, min=374.3ms, max=4492.5ms
+  task_specific_sample: mean=630.2ms, total=11.34s, count=18, min=370.2ms, max=1137.4ms
+  scene_load: mean=3.54s, total=3.54s, count=1, min=3537.6ms, max=3537.6ms
+  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2280.5ms, max=2280.5ms
+  scene_compile: mean=1.05s, total=1.05s, count=1, min=1050.7ms, max=1050.7ms
+  task_sampling_failed: mean=752.8ms, total=752.8ms, count=1, min=752.8ms, max=752.8ms
+  compile_mujoco: mean=704.9ms, total=704.9ms, count=1, min=704.9ms, max=704.9ms
+  compile_xml_load: mean=252.0ms, total=252.0ms, count=1, min=252.0ms, max=252.0ms
+  scene_init: mean=128.5ms, total=128.5ms, count=1, min=128.5ms, max=128.5ms
+  scene_asset_install: mean=77.5ms, total=77.5ms, count=1, min=77.5ms, max=77.5ms
+  compile_aux_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_policy_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_randomize: mean=2.8ms, total=49.9ms, count=18, min=1.4ms, max=4.6ms
+  compile_robot_add: mean=22.6ms, total=22.6ms, count=1, min=22.6ms, max=22.6ms
+  asset_install_objects: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms
+  mj_forward_sync: mean=494.6us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=25.1us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 06:04:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:04:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5470.32s
+  Worker averages:
+  episode_total: mean=169.62s, total=3053.17s, count=18, min=752.8ms, max=237307.2ms
+  sensor_polling: mean=450.9ms, total=2052.06s, count=4551, min=385.7ms, max=1051.6ms
+  save_trajectories: mean=11.91s, total=154.78s, count=13, min=10908.3ms, max=14405.8ms
+  physics_step: mean=26.6ms, total=121.14s, count=4551, min=16.6ms, max=68.5ms
+  save_batch_prep: mean=4.20s, total=54.55s, count=13, min=3909.0ms, max=4668.2ms
+  task_sampling: mean=836.3ms, total=14.22s, count=17, min=374.3ms, max=4492.5ms
+  task_specific_sample: mean=630.2ms, total=11.34s, count=18, min=370.2ms, max=1137.4ms
+  scene_load: mean=3.54s, total=3.54s, count=1, min=3537.6ms, max=3537.6ms
+  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2280.5ms, max=2280.5ms
+  scene_compile: mean=1.05s, total=1.05s, count=1, min=1050.7ms, max=1050.7ms
+  task_sampling_failed: mean=752.8ms, total=752.8ms, count=1, min=752.8ms, max=752.8ms
+  compile_mujoco: mean=704.9ms, total=704.9ms, count=1, min=704.9ms, max=704.9ms
+  compile_xml_load: mean=252.0ms, total=252.0ms, count=1, min=252.0ms, max=252.0ms
+  scene_init: mean=128.5ms, total=128.5ms, count=1, min=128.5ms, max=128.5ms
+  scene_asset_install: mean=77.5ms, total=77.5ms, count=1, min=77.5ms, max=77.5ms
+  compile_aux_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_policy_objects: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_randomize: mean=2.8ms, total=49.9ms, count=18, min=1.4ms, max=4.6ms
+  compile_robot_add: mean=22.6ms, total=22.6ms, count=1, min=22.6ms, max=22.6ms
+  asset_install_objects: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms
+  mj_forward_sync: mean=494.6us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=25.1us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 06:05:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:05:00 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/12 06:05:00 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 06:05:05 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:05:33 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/12 06:05:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:05:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:05:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:05:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_006	[save_utils.py: 785]
+05/12 06:05:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.03s (batch: 4.19s, save: 10.84s)	[pipeline.py: 300]
+05/12 06:05:48 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.60s:
+  episode_total: mean=179.08s, total=179.08s, count=1, min=179078.7ms, max=179078.7ms
+  sensor_polling: mean=411.7ms, total=123.52s, count=300, min=391.6ms, max=961.7ms
+  save_trajectories: mean=10.84s, total=10.84s, count=1, min=10840.2ms, max=10840.2ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=21.7ms, max=38.1ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4194.5ms, max=4194.5ms
+  task_sampling: mean=597.6ms, total=597.6ms, count=1, min=597.6ms, max=597.6ms
+  task_specific_sample: mean=593.2ms, total=593.2ms, count=1, min=593.2ms, max=593.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.6us, 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]
+05/12 06:05:50 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 06:05:50 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/12 06:05:50 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/12 06:05:50 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5650.20s
+  House averages:
+  episode_total: mean=172.70s, total=3108.57s, count=18, min=8757.1ms, max=222429.5ms
+  sensor_polling: mean=451.8ms, total=2188.91s, count=4845, min=382.5ms, max=978.5ms
+  save_trajectories: mean=11.60s, total=139.14s, count=12, min=10638.2ms, max=14092.2ms
+  physics_step: mean=27.2ms, total=131.82s, count=4845, min=16.3ms, max=170.3ms
+  save_batch_prep: mean=4.16s, total=49.89s, count=12, min=3049.1ms, max=5010.7ms
+  task_sampling: mean=759.7ms, total=13.67s, count=18, min=368.8ms, max=4552.1ms
+  task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=365.1ms, max=1138.6ms
+  scene_load: mean=3.41s, total=3.41s, count=1, min=3410.1ms, max=3410.1ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2208.0ms, max=2208.0ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1026.7ms, max=1026.7ms
+  compile_mujoco: mean=768.1ms, total=768.1ms, count=1, min=768.1ms, max=768.1ms
+  compile_xml_load: mean=184.7ms, total=184.7ms, count=1, min=184.7ms, max=184.7ms
+  scene_init: mean=123.2ms, total=123.2ms, count=1, min=123.2ms, max=123.2ms
+  compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  scene_asset_install: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms
+  scene_randomize: mean=2.5ms, total=44.4ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=535.6us, total=9.6ms, count=18, min=0.5ms, max=0.8ms
+  compile_robot_add: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 06:05:50 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 06:05:50 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5650.20s
+  Worker averages:
+  episode_total: mean=172.70s, total=3108.57s, count=18, min=8757.1ms, max=222429.5ms
+  sensor_polling: mean=451.8ms, total=2188.91s, count=4845, min=382.5ms, max=978.5ms
+  save_trajectories: mean=11.60s, total=139.14s, count=12, min=10638.2ms, max=14092.2ms
+  physics_step: mean=27.2ms, total=131.82s, count=4845, min=16.3ms, max=170.3ms
+  save_batch_prep: mean=4.16s, total=49.89s, count=12, min=3049.1ms, max=5010.7ms
+  task_sampling: mean=759.7ms, total=13.67s, count=18, min=368.8ms, max=4552.1ms
+  task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=365.1ms, max=1138.6ms
+  scene_load: mean=3.41s, total=3.41s, count=1, min=3410.1ms, max=3410.1ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2208.0ms, max=2208.0ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1026.7ms, max=1026.7ms
+  compile_mujoco: mean=768.1ms, total=768.1ms, count=1, min=768.1ms, max=768.1ms
+  compile_xml_load: mean=184.7ms, total=184.7ms, count=1, min=184.7ms, max=184.7ms
+  scene_init: mean=123.2ms, total=123.2ms, count=1, min=123.2ms, max=123.2ms
+  compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  scene_asset_install: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms
+  scene_randomize: mean=2.5ms, total=44.4ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=535.6us, total=9.6ms, count=18, min=0.5ms, max=0.8ms
+  compile_robot_add: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 06:05:53 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 06:05:53 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/12 06:05:53 INFO: Success rate: 92.31%	[pipeline.py: 1492]
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+05/12 06:07:09 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:07:09 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:07:09 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:07:09 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007'),
+ '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 0x7d98552c25d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
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+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50702,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:07:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:07:09 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:07:09 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:07:09 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:07:09 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:07:09 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:07:09 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007'),
+ '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 0x7e8700bc4d50>,
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+                                440.9812092338339,
+                                500.000000000004,
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+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50704,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:07:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:07:09 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:07:09 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:07:09 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:07:09 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:07:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:07:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:07:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:07:11 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007'),
+ '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 0x785ef90ccd10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50703,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:07:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:07:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:07:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:07:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:07:12 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 06:07:12 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 06:07:12 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 06:07:12 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007'),
+ '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 0x71f845d51510>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50701,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 06:07:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 06:07:12 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 06:07:12 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 06:07:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 06:07:13 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:07:13 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:07:13 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:07:13 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:07:13 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:07:13 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:07:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:07:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:07:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:07:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:07:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087888m	[env.py: 870]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:07:13 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:07:13 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:07:13 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:07:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:07:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:07:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:07:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:07:13 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: 256]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057316m	[env.py: 870]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:07:13 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08944857  1.13657634  0.05731609] yaw=-99.9deg	[env.py: 1019]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85920845  0.5931483   0.0878881 ] yaw=-135.5deg	[env.py: 1019]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79931458  0.38271125  0.0878881 ] yaw=198.2deg	[env.py: 1019]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:07:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=29.7ms, retries=369.6ms, total=399.3ms	[env.py: 1075]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 1.137, 0.057)	[env.py: 1079]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.9 deg	[env.py: 1082]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:07:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.0ms, retries=522.5ms, total=546.5ms	[env.py: 1075]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.593, 0.088)	[env.py: 1079]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
+05/12 06:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:07:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:07:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:07:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:07:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:07:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:07:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:07:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:07:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:07:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:07:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:07:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074995m	[env.py: 870]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:07:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98168523  0.75289758  0.07499456] yaw=-158.1deg	[env.py: 1019]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86048637  0.0369837   0.07499456] yaw=179.1deg	[env.py: 1019]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:07:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.4ms, retries=226.5ms, total=247.9ms	[env.py: 1075]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.753, 0.075)	[env.py: 1079]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 06:07:15 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 06:07:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:07:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:07:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 06:07:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 06:07:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:07:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:07:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:07:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061474m	[env.py: 870]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:07:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97740228  0.25980425  0.06147412] yaw=183.8deg	[env.py: 1019]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68201392  0.33179667  0.06147412] yaw=200.3deg	[env.py: 1019]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91633028  0.14365685  0.06147412] yaw=153.2deg	[env.py: 1019]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:07:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=22.3ms, retries=138.3ms, total=160.7ms	[env.py: 1075]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.260, 0.061)	[env.py: 1079]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.8 deg	[env.py: 1082]
+05/12 06:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:07:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:07:16 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:07:49 INFO: [Worker 0] Warmed up parallel IK solver in 35.424s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:07:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:07:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:07:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:07:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:07:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.555[m] 92.042[deg]	[grasp_sample.py: 539]
+05/12 06:07:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:07:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:07:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:07:51 INFO: [Worker 0] Warmed up parallel IK solver in 37.493s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:07:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:07:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:07:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:07:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:07:52 INFO: [Worker 0] Warmed up parallel IK solver in 36.388s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:07:52 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]
+05/12 06:07:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:07:52 INFO: [Worker 0] Warmed up parallel IK solver in 37.232s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:07:52 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]
+05/12 06:07:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:07:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:07:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 91.465[deg]	[grasp_sample.py: 539]
+05/12 06:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:07:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:07:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:07:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:07:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.341[m] 85.325[deg]	[grasp_sample.py: 539]
+05/12 06:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:07:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:07:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:07:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:07:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:07:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.998s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:07:57 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.559[m] 95.693[deg]	[grasp_sample.py: 539]
+05/12 06:07:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:07:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:07:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:07:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:08:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:08:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:08:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:08:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:08:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:08:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:08:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:08:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:09:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:09:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:09:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:09:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:09:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:09:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:09:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.336[deg]	[grasp_sample.py: 539]
+05/12 06:09:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:09:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:09:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:09:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:09:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:09:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:09:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:09:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:09:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.143s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:09:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:09:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.239s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:09:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.751[deg]	[grasp_sample.py: 539]
+05/12 06:09:44 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:09:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:09:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090059m	[env.py: 870]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97280708  1.11278027  0.09005892] yaw=-111.0deg	[env.py: 1019]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88692625  0.26342839  0.09005892] yaw=172.1deg	[env.py: 1019]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86224994  0.0402318   0.09005892] yaw=174.9deg	[env.py: 1019]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.2ms, total=164.3ms	[env.py: 1075]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 1.113, 0.090)	[env.py: 1079]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.0 deg	[env.py: 1082]
+05/12 06:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:09:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:09:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:09:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:09:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:09:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 93.837[deg]	[grasp_sample.py: 539]
+05/12 06:09:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:09:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:09:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:15 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:10:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:10:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:10:19 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]
+05/12 06:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:10:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:10:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.210[m] 5.102[deg]	[grasp_sample.py: 539]
+05/12 06:10:23 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:10:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:10:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:10:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:10:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:10:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:10:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:10:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075247m	[env.py: 870]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:10:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94864828  0.75738216  0.07524741] yaw=-175.5deg	[env.py: 1019]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10057788  1.14726241  0.07524741] yaw=-123.1deg	[env.py: 1019]
+05/12 06:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94499386  0.72823897  0.07524741] yaw=-167.4deg	[env.py: 1019]
+05/12 06:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=375.5ms, total=375.6ms	[env.py: 1075]
+05/12 06:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.757, 0.075)	[env.py: 1079]
+05/12 06:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
+05/12 06:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/12 06:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:10:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:10:26 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:10:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:10:26 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]
+05/12 06:10:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:10:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:10:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.946s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:10:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 102.543[deg]	[grasp_sample.py: 539]
+05/12 06:10:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:10:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:10:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:10:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:10:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:10:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:10:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:10:42 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/12 06:10:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:10:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:10:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:10:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.01s (batch: 4.63s, save: 12.38s)	[pipeline.py: 300]
+05/12 06:11:00 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.95s:
+  episode_total: mean=228.91s, total=228.91s, count=1, min=228909.3ms, max=228909.3ms
+  sensor_polling: mean=453.2ms, total=130.96s, count=289, min=400.4ms, max=667.2ms
+  save_trajectories: mean=12.38s, total=12.38s, count=1, min=12384.1ms, max=12384.1ms
+  physics_step: mean=26.8ms, total=7.73s, count=289, min=18.8ms, max=37.6ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4625.5ms, max=4625.5ms
+  task_sampling: mean=3.95s, total=3.95s, count=1, min=3951.9ms, max=3951.9ms
+  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.6ms, max=3399.6ms
+  scene_env_create: mean=2.22s, total=2.22s, count=1, min=2219.4ms, max=2219.4ms
+  scene_compile: mean=978.8ms, total=978.8ms, count=1, min=978.8ms, max=978.8ms
+  compile_mujoco: mean=634.2ms, total=634.2ms, count=1, min=634.2ms, max=634.2ms
+  task_specific_sample: mean=549.2ms, total=549.2ms, count=1, min=549.2ms, max=549.2ms
+  compile_xml_load: mean=251.9ms, total=251.9ms, count=1, min=251.9ms, max=251.9ms
+  scene_init: mean=121.0ms, total=121.0ms, count=1, min=121.0ms, max=121.0ms
+  scene_asset_install: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms
+  compile_aux_objects: mean=70.3ms, total=70.3ms, count=1, min=70.3ms, max=70.3ms
+  compile_aux_policy_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  asset_install_grasps: mean=61.1ms, total=61.1ms, count=1, min=61.1ms, max=61.1ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  compile_robot_add: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=63.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 06:11:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:11:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:11:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:11:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:11:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:11:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:11:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:11:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:11:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:11:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:11:02 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: 256]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071635m	[env.py: 870]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:11:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78252685  0.56101806  0.071635  ] yaw=-164.3deg	[env.py: 1019]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71198014  0.94703168  0.071635  ] yaw=-188.4deg	[env.py: 1019]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04365432  1.22249448  0.071635  ] yaw=-108.0deg	[env.py: 1019]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:11:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=89.0ms, total=89.0ms	[env.py: 1075]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.561, 0.072)	[env.py: 1079]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg	[env.py: 1082]
+05/12 06:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:11:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:11:02 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:11:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:11:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:11:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:11:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:11:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:11:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.539[m] 100.497[deg]	[grasp_sample.py: 539]
+05/12 06:11:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:11:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:11:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:11:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:11:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:11:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:11:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:11:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:11:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.98s (batch: 4.85s, save: 11.13s)	[pipeline.py: 300]
+05/12 06:11:18 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.69s:
+  episode_total: mean=249.53s, total=249.53s, count=1, min=249526.0ms, max=249526.0ms
+  sensor_polling: mean=449.2ms, total=134.75s, count=300, min=380.4ms, max=731.3ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11128.6ms, max=11128.6ms
+  physics_step: mean=28.1ms, total=8.43s, count=300, min=18.8ms, max=45.1ms
+  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4852.5ms, max=4852.5ms
+  task_sampling: mean=4.69s, total=4.69s, count=1, min=4689.3ms, max=4689.3ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3828.9ms, max=3828.9ms
+  scene_env_create: mean=2.34s, total=2.34s, count=1, min=2341.7ms, max=2341.7ms
+  scene_compile: mean=1.30s, total=1.30s, count=1, min=1300.7ms, max=1300.7ms
+  task_specific_sample: mean=857.4ms, total=857.4ms, count=1, min=857.4ms, max=857.4ms
+  compile_mujoco: mean=843.1ms, total=843.1ms, count=1, min=843.1ms, max=843.1ms
+  compile_xml_load: mean=363.1ms, total=363.1ms, count=1, min=363.1ms, max=363.1ms
+  scene_init: mean=128.2ms, total=128.2ms, count=1, min=128.2ms, max=128.2ms
+  scene_asset_install: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  asset_install_grasps: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_robot_add: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=463.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=58.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 06:11:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:11:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:11:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:11:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:11:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:11:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:11:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070714m	[env.py: 870]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:11:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:11:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71584934  0.86641751  0.07071378] yaw=-143.8deg	[env.py: 1019]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78143377  0.75876253  0.07071378] yaw=-186.9deg	[env.py: 1019]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:11:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=300.4ms, total=300.4ms	[env.py: 1075]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.716, 0.866, 0.071)	[env.py: 1079]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg	[env.py: 1082]
+05/12 06:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:11:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:11:21 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:11:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:11:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:11:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:11:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:11:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:11:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.647[m] 76.749[deg]	[grasp_sample.py: 539]
+05/12 06:11:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:11:25 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:11:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:11:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:11:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:11:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:11:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:11:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:11:27 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: 256]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008859m	[env.py: 870]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:11:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10073617  1.03991644  0.00885894] yaw=-166.5deg	[env.py: 1019]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98264469  1.08352349  0.00885894] yaw=-133.0deg	[env.py: 1019]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89198124  0.48582863  0.00885894] yaw=-148.5deg	[env.py: 1019]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:11:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.9ms, total=249.0ms	[env.py: 1075]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 1.040, 0.009)	[env.py: 1079]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
+05/12 06:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:11:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:11:28 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:11:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:11:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:11:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:11:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:11:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:11:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 84.345[deg]	[grasp_sample.py: 539]
+05/12 06:11:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:11:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:11:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:11:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:12:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:12:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:12:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:12:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:12:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:12:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:12:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:12:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:12:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:13:03 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:13:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:13:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.96s (batch: 4.60s, save: 12.35s)	[pipeline.py: 300]
+05/12 06:13:03 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.11s:
+  episode_total: mean=174.83s, total=349.65s, count=2, min=151925.3ms, max=197727.1ms
+  sensor_polling: mean=461.5ms, total=219.23s, count=475, min=394.7ms, max=785.0ms
+  physics_step: mean=27.7ms, total=13.16s, count=475, min=17.6ms, max=172.7ms
+  save_trajectories: mean=12.35s, total=12.35s, count=1, min=12352.7ms, max=12352.7ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4602.6ms, max=4602.6ms
+  task_sampling: mean=2.05s, total=4.11s, count=2, min=489.0ms, max=3616.6ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3113.8ms, max=3113.8ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.3ms, max=1925.3ms
+  scene_compile: mean=997.9ms, total=997.9ms, count=1, min=997.9ms, max=997.9ms
+  task_specific_sample: mean=492.3ms, total=984.6ms, count=2, min=485.0ms, max=499.6ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=187.7ms, total=187.7ms, count=1, min=187.7ms, max=187.7ms
+  scene_init: mean=126.8ms, total=126.8ms, count=1, min=126.8ms, max=126.8ms
+  scene_asset_install: mean=63.3ms, total=63.3ms, count=1, min=63.3ms, max=63.3ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.4ms
+  mj_forward_sync: mean=488.3us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=36.1us, total=0.1ms, 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]
+05/12 06:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:13:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:13:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:13:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:13:05 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: 256]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000299m	[env.py: 870]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.83563630e-01  7.38409229e-01  2.99359966e-04] yaw=-148.0deg	[env.py: 1019]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.23638137e-01  4.24985854e-01  2.99359966e-04] yaw=185.4deg	[env.py: 1019]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.6ms, total=239.7ms	[env.py: 1075]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.738, 0.000)	[env.py: 1079]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.0 deg	[env.py: 1082]
+05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:13:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:13:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:13:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:13:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:13:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:13:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:13:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.862s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:13:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.331[m] 85.396[deg]	[grasp_sample.py: 539]
+05/12 06:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:13:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:13:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:13:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:13:32 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:13:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:13:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:13:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:13:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:13:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:13:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:13:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:13:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:13:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:13:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:13:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:13:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.90s (batch: 4.88s, save: 12.01s)	[pipeline.py: 300]
+05/12 06:13:52 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.37s:
+  episode_total: mean=200.52s, total=401.05s, count=2, min=194537.4ms, max=206511.3ms
+  sensor_polling: mean=459.1ms, total=264.92s, count=577, min=389.5ms, max=1007.9ms
+  physics_step: mean=27.6ms, total=15.92s, count=577, min=18.7ms, max=85.2ms
+  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12014.2ms, max=12014.2ms
+  task_sampling: mean=2.69s, total=5.37s, count=2, min=644.3ms, max=4730.5ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4883.2ms, max=4883.2ms
+  scene_load: mean=3.97s, total=3.97s, count=1, min=3969.0ms, max=3969.0ms
+  scene_env_create: mean=2.42s, total=2.42s, count=1, min=2417.8ms, max=2417.8ms
+  task_specific_sample: mean=699.3ms, total=1.40s, count=2, min=641.0ms, max=757.6ms
+  scene_compile: mean=1.31s, total=1.31s, count=1, min=1311.9ms, max=1311.9ms
+  compile_mujoco: mean=778.3ms, total=778.3ms, count=1, min=778.3ms, max=778.3ms
+  compile_xml_load: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  scene_init: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  scene_asset_install: mean=107.1ms, total=107.1ms, count=1, min=107.1ms, max=107.1ms
+  asset_install_grasps: mean=90.8ms, total=90.8ms, count=1, min=90.8ms, max=90.8ms
+  compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms
+  compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms
+  compile_robot_add: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=647.7us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=41.4us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:13:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:13:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.270[deg]	[grasp_sample.py: 539]
+05/12 06:13:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:13:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:13:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:13:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:13:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:13:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:13:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046388m	[env.py: 870]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:13:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95410123  0.09219192  0.04638833] yaw=116.4deg	[env.py: 1019]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93887001  0.53027535  0.04638833] yaw=-196.3deg	[env.py: 1019]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:13:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.8ms, total=254.9ms	[env.py: 1075]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.092, 0.046)	[env.py: 1079]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 116.4 deg	[env.py: 1082]
+05/12 06:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:13:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:13:54 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:13:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:13:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:13:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:13:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:13:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:13:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:13:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.516[m] 102.327[deg]	[grasp_sample.py: 539]
+05/12 06:13:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:13:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:13:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:13:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:13:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:13:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:13:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:13:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:13:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:13:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:13:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064388m	[env.py: 870]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:13:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69547314  0.27151221  0.06438805] yaw=201.0deg	[env.py: 1019]
+05/12 06:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96135178  0.09615915  0.06438805] yaw=120.2deg	[env.py: 1019]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72631541  0.10802843  0.06438805] yaw=184.2deg	[env.py: 1019]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:13:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=225.9ms	[env.py: 1075]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.272, 0.064)	[env.py: 1079]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.0 deg	[env.py: 1082]
+05/12 06:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/12 06:13:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:13:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:13:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:13:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:13:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:13:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:13:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:13:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:13:59 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:13:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:13:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:14:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:14:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.675[m] 83.395[deg]	[grasp_sample.py: 539]
+05/12 06:14:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:14:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:14:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:14:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:14:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:14:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:14:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.58s (batch: 4.71s, save: 12.87s)	[pipeline.py: 300]
+05/12 06:14:18 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=195.78s, total=195.78s, count=1, min=195779.7ms, max=195779.7ms
+  sensor_polling: mean=456.4ms, total=136.93s, count=300, min=393.2ms, max=745.4ms
+  save_trajectories: mean=12.87s, total=12.87s, count=1, min=12874.7ms, max=12874.7ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.2ms, max=190.7ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4706.4ms, max=4706.4ms
+  task_sampling: mean=419.3ms, total=419.3ms, count=1, min=419.3ms, max=419.3ms
+  task_specific_sample: mean=415.1ms, total=415.1ms, count=1, min=415.1ms, max=415.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=480.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:14:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:14:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:14:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:14:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083967m	[env.py: 870]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78781753 -0.00139375  0.08396654] yaw=156.6deg	[env.py: 1019]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93627866  0.23216767  0.08396654] yaw=138.3deg	[env.py: 1019]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93745599  0.96102654  0.08396654] yaw=-141.1deg	[env.py: 1019]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=256.3ms, total=256.3ms	[env.py: 1075]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, -0.001, 0.084)	[env.py: 1079]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg	[env.py: 1082]
+05/12 06:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:14:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:14:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:14:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:14:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:14:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:14:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:14:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:14:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.600[m] 91.794[deg]	[grasp_sample.py: 539]
+05/12 06:14:26 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:14:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:14:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:14:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:14:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:14:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:14:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:14:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053474m	[env.py: 870]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:14:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.680462    0.31397078  0.05347359] yaw=190.6deg	[env.py: 1019]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94340271  1.15850477  0.05347359] yaw=-150.2deg	[env.py: 1019]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85187719  0.99325314  0.05347359] yaw=-146.8deg	[env.py: 1019]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:14:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms	[env.py: 1075]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.314, 0.053)	[env.py: 1079]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.6 deg	[env.py: 1082]
+05/12 06:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:14:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:14:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:14:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:14:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:14:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:14:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:14:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:14:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.633[m] 86.200[deg]	[grasp_sample.py: 539]
+05/12 06:14:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:14:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:14:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:14:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:14:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:14:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:15:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:15:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:15:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:15:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:15:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:15:30 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:15:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:15:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:15:56 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:15:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:15:56 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/12 06:16:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:16:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:16:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.62s (batch: 4.32s, save: 11.30s)	[pipeline.py: 300]
+05/12 06:16:12 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
+  episode_total: mean=187.30s, total=187.30s, count=1, min=187301.9ms, max=187301.9ms
+  sensor_polling: mean=464.4ms, total=133.28s, count=287, min=395.7ms, max=960.1ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11295.4ms, max=11295.4ms
+  physics_step: mean=26.9ms, total=7.73s, count=287, min=18.1ms, max=48.5ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4324.8ms, max=4324.8ms
+  task_sampling: mean=552.1ms, total=552.1ms, count=1, min=552.1ms, max=552.1ms
+  task_specific_sample: mean=547.6ms, total=547.6ms, count=1, min=547.6ms, max=547.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=469.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:16:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:16:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:16:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:16:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:16:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:16:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:16:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098687m	[env.py: 870]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:16:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66168325  0.2548675   0.09868674] yaw=188.4deg	[env.py: 1019]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82205039  0.66898073  0.09868674] yaw=-132.2deg	[env.py: 1019]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82205371  1.00481444  0.09868674] yaw=-146.9deg	[env.py: 1019]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:16:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=429.3ms, total=429.4ms	[env.py: 1075]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.255, 0.099)	[env.py: 1079]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.4 deg	[env.py: 1082]
+05/12 06:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:16:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:16:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:16:15 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:16:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:16:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:16:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:16:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:16:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.403s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:16:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.668[m] 86.178[deg]	[grasp_sample.py: 539]
+05/12 06:16:18 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:16:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:16:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:16:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:16:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:16:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:16:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:16:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:16:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:16:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035985m	[env.py: 870]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:16:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8334239   0.19372624  0.03598545] yaw=187.0deg	[env.py: 1019]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71155089  0.32553331  0.03598545] yaw=163.9deg	[env.py: 1019]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82909249  0.55834332  0.03598545] yaw=-165.2deg	[env.py: 1019]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:16:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=309.7ms, total=309.8ms	[env.py: 1075]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.194, 0.036)	[env.py: 1079]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.0 deg	[env.py: 1082]
+05/12 06:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/12 06:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:16:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:16:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:16:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:16:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:16:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:16:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:16:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.952s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:16:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 89.804[deg]	[grasp_sample.py: 539]
+05/12 06:16:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:16:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:16:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:16:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:16:22 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:16:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:16:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:16:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.827s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:16:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 1.387[deg]	[grasp_sample.py: 539]
+05/12 06:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:16:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:16:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:16:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:16:47 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:16:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:16:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:16:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:16:57 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:17:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:17:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:17:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.80s (batch: 3.96s, save: 11.84s)	[pipeline.py: 300]
+05/12 06:17:08 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.62s:
+  episode_total: mean=114.66s, total=343.98s, count=3, min=5276.7ms, max=191206.9ms
+  sensor_polling: mean=443.3ms, total=252.25s, count=569, min=379.1ms, max=869.4ms
+  physics_step: mean=27.4ms, total=15.59s, count=569, min=18.3ms, max=42.4ms
+  save_trajectories: mean=11.84s, total=11.84s, count=1, min=11841.8ms, max=11841.8ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3962.5ms, max=3962.5ms
+  task_sampling: mean=541.1ms, total=1.62s, count=3, min=490.2ms, max=593.2ms
+  task_specific_sample: mean=536.8ms, total=1.61s, count=3, min=487.2ms, max=588.7ms
+  scene_randomize: mean=2.5ms, total=7.5ms, count=3, min=1.4ms, max=3.1ms
+  mj_forward_sync: mean=570.6us, total=1.7ms, count=3, min=0.5ms, max=0.8ms
+  policy_setup: mean=89.8us, total=0.3ms, count=3, min=0.0ms, max=0.2ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:17:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:17:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:17:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:17:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:17:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:17:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:17:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009685m	[env.py: 870]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:17:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79629348  0.74596474  0.0096853 ] yaw=-162.2deg	[env.py: 1019]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88479657  0.46560626  0.0096853 ] yaw=211.7deg	[env.py: 1019]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91363744  0.40442894  0.0096853 ] yaw=213.1deg	[env.py: 1019]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:17:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms	[env.py: 1075]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.746, 0.010)	[env.py: 1079]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.2 deg	[env.py: 1082]
+05/12 06:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:17:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:17:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:17:10 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:17:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:17:10 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]
+05/12 06:17:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:17:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:17:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:17:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 90.261[deg]	[grasp_sample.py: 539]
+05/12 06:17:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:17:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:17:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:17:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:17:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:17:15 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:17:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:17:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:17:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:17:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:17:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:17:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:17:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:17:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:17:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:17:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.09s (batch: 3.85s, save: 11.24s)	[pipeline.py: 300]
+05/12 06:17:30 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
+  episode_total: mean=217.30s, total=217.30s, count=1, min=217303.8ms, max=217303.8ms
+  sensor_polling: mean=461.4ms, total=138.42s, count=300, min=402.3ms, max=980.9ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11238.1ms, max=11238.1ms
+  physics_step: mean=27.7ms, total=8.31s, count=300, min=21.8ms, max=83.4ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.1ms, max=3849.1ms
+  task_sampling: mean=546.3ms, total=546.3ms, count=1, min=546.3ms, max=546.3ms
+  task_specific_sample: mean=542.1ms, total=542.1ms, count=1, min=542.1ms, max=542.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=526.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:17:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:17:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:17:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:17:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:17:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:17:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:17:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013906m	[env.py: 870]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:17:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68419372  0.52413962  0.0139058 ] yaw=-195.1deg	[env.py: 1019]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84645563  0.63954695  0.0139058 ] yaw=-174.4deg	[env.py: 1019]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83675692  0.46553488  0.0139058 ] yaw=203.1deg	[env.py: 1019]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:17:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.3ms, total=279.3ms	[env.py: 1075]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.524, 0.014)	[env.py: 1079]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.1 deg	[env.py: 1082]
+05/12 06:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:17:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:17:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:17:32 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:17:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:17:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:17:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:17:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:17:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.097s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:17:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.616[m] 93.703[deg]	[grasp_sample.py: 539]
+05/12 06:17:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:17:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:17:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:17:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:17:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:17:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:17:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 18.07s (batch: 4.86s, save: 13.21s)	[pipeline.py: 300]
+05/12 06:17:43 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.07s:
+  episode_total: mean=101.32s, total=202.63s, count=2, min=6848.0ms, max=195783.8ms
+  sensor_polling: mean=452.2ms, total=135.67s, count=300, min=400.1ms, max=812.7ms
+  save_trajectories: mean=13.21s, total=13.21s, count=1, min=13209.2ms, max=13209.2ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=21.5ms, max=52.9ms
+  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4863.6ms, max=4863.6ms
+  task_sampling: mean=536.1ms, total=1.07s, count=2, min=515.4ms, max=556.7ms
+  task_specific_sample: mean=531.4ms, total=1.06s, count=2, min=511.2ms, max=551.7ms
+  scene_randomize: mean=2.8ms, total=5.7ms, count=2, min=2.2ms, max=3.5ms
+  mj_forward_sync: mean=550.3us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.7us, 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]
+05/12 06:17:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:17:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:17:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:17:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:17:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:17:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:17:45 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: 256]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056728m	[env.py: 870]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:17:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8127024   0.53445058  0.0567277 ] yaw=-193.1deg	[env.py: 1019]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81863361  1.06381903  0.0567277 ] yaw=-162.5deg	[env.py: 1019]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86073674  0.97068994  0.0567277 ] yaw=-182.6deg	[env.py: 1019]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:17:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.4ms, total=140.4ms	[env.py: 1075]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.534, 0.057)	[env.py: 1079]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.1 deg	[env.py: 1082]
+05/12 06:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/12 06:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:17:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:17:46 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:17:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:17:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:17:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:17:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:17:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:17:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.483[m] 86.849[deg]	[grasp_sample.py: 539]
+05/12 06:17:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:17:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:17:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:17:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:17:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:18:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:18:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:18:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:18:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:18:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:18:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.148s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:18:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.206[deg]	[grasp_sample.py: 539]
+05/12 06:18:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:44 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:18:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:18:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:18:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:18:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:18:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:18:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055849m	[env.py: 870]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:18:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95212442  0.48384323  0.05584868] yaw=-219.1deg	[env.py: 1019]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:18:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=288.8ms, total=288.8ms	[env.py: 1075]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.484, 0.056)	[env.py: 1079]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -219.1 deg	[env.py: 1082]
+05/12 06:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:18:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:18:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:18:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:18:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:18:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:18:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.922s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:18:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.467[m] 92.916[deg]	[grasp_sample.py: 539]
+05/12 06:18:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:18:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:18:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:18:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:18:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:18:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:18:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:18:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:18:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:19:27 INFO: [Worker 0] Feasibility-checked 86 grasps in 37.188s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:19:27 INFO: [Worker 0] Feasible grasp found 174 (originally 59): w/ 0.234[m] 37.601[deg]	[grasp_sample.py: 539]
+05/12 06:19:29 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:19:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:19:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:19:30 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: 256]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056860m	[env.py: 870]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75792377  0.94563569  0.05685963] yaw=-193.8deg	[env.py: 1019]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10838301  1.08316538  0.05685963] yaw=-98.9deg	[env.py: 1019]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76662485  0.63710497  0.05685963] yaw=-136.2deg	[env.py: 1019]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:19:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.7ms, total=288.7ms	[env.py: 1075]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.946, 0.057)	[env.py: 1079]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.8 deg	[env.py: 1082]
+05/12 06:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:19:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:19:31 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:19:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:19:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:19:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:19:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.763[m] 91.993[deg]	[grasp_sample.py: 539]
+05/12 06:19:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:19:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:19:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:19:37 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:19:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:19:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:20:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:20:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:20:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:20:17 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:20:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:20:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.67s (batch: 4.00s, save: 13.67s)	[pipeline.py: 300]
+05/12 06:20:25 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=195.64s, total=195.64s, count=1, min=195640.1ms, max=195640.1ms
+  sensor_polling: mean=449.7ms, total=134.91s, count=300, min=382.3ms, max=965.8ms
+  save_trajectories: mean=13.67s, total=13.67s, count=1, min=13669.8ms, max=13669.8ms
+  physics_step: mean=27.2ms, total=8.17s, count=300, min=20.1ms, max=46.0ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.9ms, max=4000.9ms
+  task_sampling: mean=472.4ms, total=472.4ms, count=1, min=472.4ms, max=472.4ms
+  task_specific_sample: mean=468.0ms, total=468.0ms, count=1, min=468.0ms, max=468.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=452.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:20:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:20:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:20:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:20:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:20:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:20:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069382m	[env.py: 870]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:20:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65299561  0.44838583  0.06938163] yaw=156.7deg	[env.py: 1019]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90968506  0.32764518  0.06938163] yaw=161.1deg	[env.py: 1019]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:20:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.5ms, total=221.6ms	[env.py: 1075]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.448, 0.069)	[env.py: 1079]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.7 deg	[env.py: 1082]
+05/12 06:20:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:20:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:20:27 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:20:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:20:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:20:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:20:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.265s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:20:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.661[m] 95.479[deg]	[grasp_sample.py: 539]
+05/12 06:20:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:20:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:20:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:20:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:20:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:20:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:20:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:20:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:20:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:20:32 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.323[deg]	[grasp_sample.py: 539]
+05/12 06:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:20:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:20:44 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:20:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:20:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:20:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:20:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:20:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:20:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:20:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:21:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:21:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:21:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.99s (batch: 4.52s, save: 11.47s)	[pipeline.py: 300]
+05/12 06:21:01 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s:
+  episode_total: mean=195.94s, total=195.94s, count=1, min=195937.3ms, max=195937.3ms
+  sensor_polling: mean=460.5ms, total=138.14s, count=300, min=396.3ms, max=820.6ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11471.9ms, max=11471.9ms
+  physics_step: mean=28.8ms, total=8.65s, count=300, min=18.2ms, max=39.4ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4521.7ms, max=4521.7ms
+  task_sampling: mean=524.7ms, total=524.7ms, count=1, min=524.7ms, max=524.7ms
+  task_specific_sample: mean=517.2ms, total=517.2ms, count=1, min=517.2ms, max=517.2ms
+  scene_randomize: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  mj_forward_sync: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:21:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:21:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:21:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:21:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:21:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:21:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:21:03 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: 256]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008951m	[env.py: 870]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:21:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83933303  0.90839755  0.00895119] yaw=-154.3deg	[env.py: 1019]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81008364  0.13640967  0.00895119] yaw=136.1deg	[env.py: 1019]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62382019  0.57057375  0.00895119] yaw=-186.9deg	[env.py: 1019]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:21:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.5ms, total=130.6ms	[env.py: 1075]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.908, 0.009)	[env.py: 1079]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg	[env.py: 1082]
+05/12 06:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:21:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:21:03 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:21:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:21:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:21:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:21:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:21:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.746s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:21:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.565[m] 93.898[deg]	[grasp_sample.py: 539]
+05/12 06:21:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:21:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:21:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:21:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:21:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:21:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:21:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:21:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:21:59 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:22:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:22:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:22:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:22:26 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:22:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:22:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:22:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:22:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:22:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:22:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:22:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:22:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.85s (batch: 4.28s, save: 10.57s)	[pipeline.py: 300]
+05/12 06:22:42 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.19s:
+  episode_total: mean=154.28s, total=308.57s, count=2, min=116747.4ms, max=191817.9ms
+  sensor_polling: mean=449.8ms, total=192.50s, count=428, min=392.5ms, max=969.4ms
+  physics_step: mean=25.9ms, total=11.07s, count=428, min=17.1ms, max=43.8ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10568.5ms, max=10568.5ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.0ms, max=4283.0ms
+  task_sampling: mean=594.3ms, total=1.19s, count=2, min=575.6ms, max=612.9ms
+  task_specific_sample: mean=590.2ms, total=1.18s, count=2, min=571.5ms, max=608.8ms
+  scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=2.1ms, max=2.7ms
+  mj_forward_sync: mean=463.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:22:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:22:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:22:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:22:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:22:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:22:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:22:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010618m	[env.py: 870]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:22:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84029393  0.35844475  0.01061786] yaw=132.3deg	[env.py: 1019]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84316174  0.05845578  0.01061786] yaw=188.4deg	[env.py: 1019]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77155434  0.24098585  0.01061786] yaw=193.6deg	[env.py: 1019]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:22:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms	[env.py: 1075]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.358, 0.011)	[env.py: 1079]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.3 deg	[env.py: 1082]
+05/12 06:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:22:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:22:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:22:44 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:22:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:22:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:22:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:22:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:22:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:22:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:22:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.81s (batch: 4.09s, save: 11.72s)	[pipeline.py: 300]
+05/12 06:22:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.032s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:22:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.593[m] 99.589[deg]	[grasp_sample.py: 539]
+05/12 06:22:45 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.91s:
+  episode_total: mean=129.35s, total=388.04s, count=3, min=3941.2ms, max=239887.2ms
+  sensor_polling: mean=472.8ms, total=263.83s, count=558, min=393.8ms, max=988.9ms
+  physics_step: mean=27.9ms, total=15.59s, count=558, min=15.4ms, max=84.4ms
+  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11717.0ms, max=11717.0ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4093.9ms, max=4093.9ms
+  task_sampling: mean=637.1ms, total=1.91s, count=3, min=557.6ms, max=757.4ms
+  task_specific_sample: mean=633.0ms, total=1.90s, count=3, min=554.8ms, max=752.1ms
+  scene_randomize: mean=2.3ms, total=6.9ms, count=3, min=1.4ms, max=3.5ms
+  mj_forward_sync: mean=511.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=23.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:22:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:22:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:22:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:22:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:22:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:22:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:22:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:22:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:22:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:22:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:22:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:22:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:22:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085189m	[env.py: 870]
+05/12 06:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:22:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95903369  0.79338436  0.08518864] yaw=-154.5deg	[env.py: 1019]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7009928   0.52206765  0.08518864] yaw=-207.2deg	[env.py: 1019]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69128414  0.15593769  0.08518864] yaw=189.1deg	[env.py: 1019]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:22:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=460.6ms, total=460.7ms	[env.py: 1075]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.793, 0.085)	[env.py: 1079]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/12 06:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/12 06:22:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:22:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:22:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:22:47 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:22:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:22:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:22:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:22:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:22:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.211s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:22:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 95.470[deg]	[grasp_sample.py: 539]
+05/12 06:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:22:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:22:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:22:52 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:23:21 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:23:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:23:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:23:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:23:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:23:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:23:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.20s (batch: 3.72s, save: 11.48s)	[pipeline.py: 300]
+05/12 06:23:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.56s:
+  episode_total: mean=190.74s, total=190.74s, count=1, min=190736.4ms, max=190736.4ms
+  sensor_polling: mean=442.5ms, total=132.74s, count=300, min=376.6ms, max=943.4ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11484.0ms, max=11484.0ms
+  physics_step: mean=27.4ms, total=8.23s, count=300, min=21.6ms, max=62.2ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.5ms, max=3718.5ms
+  task_sampling: mean=557.6ms, total=557.6ms, count=1, min=557.6ms, max=557.6ms
+  task_specific_sample: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=522.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:23:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:23:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:23:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:23:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:23:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:23:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:23:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:23:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092740m	[env.py: 870]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:23:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74056503  0.46609525  0.09273986] yaw=149.2deg	[env.py: 1019]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90956151  0.80887322  0.09273986] yaw=-190.2deg	[env.py: 1019]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75399319  0.43702914  0.09273986] yaw=155.2deg	[env.py: 1019]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:23:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.5ms, total=173.5ms	[env.py: 1075]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.466, 0.093)	[env.py: 1079]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.2 deg	[env.py: 1082]
+05/12 06:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:23:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:23:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:23:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:23:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:23:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:23:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:23:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.031s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:23:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.617[m] 92.981[deg]	[grasp_sample.py: 539]
+05/12 06:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:23:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:23:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:23:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:23:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:23:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:24:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:24:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:24:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:24:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:24:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:24:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:24:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:24:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:24:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:24:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:24:10 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:24:10 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.046[m] 2.002[deg]	[grasp_sample.py: 539]
+05/12 06:24:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:24:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:24:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:24:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:24:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:24:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:24:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.91s (batch: 4.35s, save: 11.56s)	[pipeline.py: 300]
+05/12 06:24:20 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
+  episode_total: mean=196.91s, total=196.91s, count=1, min=196911.2ms, max=196911.2ms
+  sensor_polling: mean=459.5ms, total=137.86s, count=300, min=395.3ms, max=790.2ms
+  save_trajectories: mean=11.56s, total=11.56s, count=1, min=11561.4ms, max=11561.4ms
+  physics_step: mean=27.0ms, total=8.10s, count=300, min=21.4ms, max=46.7ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4345.9ms, max=4345.9ms
+  task_sampling: mean=452.7ms, total=452.7ms, count=1, min=452.7ms, max=452.7ms
+  task_specific_sample: mean=448.4ms, total=448.4ms, count=1, min=448.4ms, max=448.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=469.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:24:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:24:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:24:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:24:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:24:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:24:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:24:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005622m	[env.py: 870]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:24:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84988087  0.19844368  0.00562186] yaw=198.2deg	[env.py: 1019]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94332521  0.32436482  0.00562186] yaw=128.6deg	[env.py: 1019]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:24:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=187.0ms, total=187.1ms	[env.py: 1075]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 0.198, 0.006)	[env.py: 1079]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 198.2 deg	[env.py: 1082]
+05/12 06:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:24:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:24:22 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:24:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:24:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:24:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:24:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:24:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:24:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.629[m] 93.899[deg]	[grasp_sample.py: 539]
+05/12 06:24:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:24:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:24:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:24:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:24:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:24:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:24:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:24:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:25:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:25:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:25:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:25:41 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:25:46 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:25:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 06:25:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:26:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:26:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:26:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.19s (batch: 3.74s, save: 11.45s)	[pipeline.py: 300]
+05/12 06:26:02 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.83s:
+  episode_total: mean=195.59s, total=195.59s, count=1, min=195593.9ms, max=195593.9ms
+  sensor_polling: mean=458.2ms, total=137.46s, count=300, min=397.7ms, max=1045.9ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11451.5ms, max=11451.5ms
+  physics_step: mean=27.2ms, total=8.15s, count=300, min=19.8ms, max=61.2ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.7ms, max=3740.7ms
+  task_sampling: mean=826.2ms, total=826.2ms, count=1, min=826.2ms, max=826.2ms
+  task_specific_sample: mean=821.3ms, total=821.3ms, count=1, min=821.3ms, max=821.3ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=617.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:26:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:26:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:26:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:26:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:26:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:26:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:26:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092589m	[env.py: 870]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:26:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92944557  0.14742401  0.09258944] yaw=118.4deg	[env.py: 1019]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9508852   0.39451084  0.09258944] yaw=151.2deg	[env.py: 1019]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75796537  0.37375893  0.09258944] yaw=154.2deg	[env.py: 1019]
+05/12 06:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:26:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.2ms, total=173.3ms	[env.py: 1075]
+05/12 06:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.147, 0.093)	[env.py: 1079]
+05/12 06:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 118.4 deg	[env.py: 1082]
+05/12 06:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/12 06:26:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:26:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:26:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:26:04 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:26:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:26:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:26:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:26:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:26:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.119s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:26:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.550[m] 101.037[deg]	[grasp_sample.py: 539]
+05/12 06:26:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:26:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:26:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:26:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:26:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:26:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:26:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:26:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:26:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:26:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:26:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.72s (batch: 4.42s, save: 11.30s)	[pipeline.py: 300]
+05/12 06:26:25 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
+  episode_total: mean=221.47s, total=221.47s, count=1, min=221465.2ms, max=221465.2ms
+  sensor_polling: mean=485.6ms, total=145.69s, count=300, min=404.2ms, max=1018.5ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11296.6ms, max=11296.6ms
+  physics_step: mean=29.0ms, total=8.70s, count=300, min=17.1ms, max=60.6ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.5ms, max=4420.5ms
+  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
+  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=466.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:26:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:26:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:26:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:26:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:26:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:26:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:26:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058517m	[env.py: 870]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:26:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02201122  0.89657388  0.0585173 ] yaw=-166.5deg	[env.py: 1019]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65784927  0.65084994  0.0585173 ] yaw=-150.6deg	[env.py: 1019]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92183793  0.7869171   0.0585173 ] yaw=-171.9deg	[env.py: 1019]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.2ms, total=164.2ms	[env.py: 1075]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.897, 0.059)	[env.py: 1079]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
+05/12 06:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:26:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:26:26 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:26:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:26:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:26:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:26:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:26:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 90.618[deg]	[grasp_sample.py: 539]
+05/12 06:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:26:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:26:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:26:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:26:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:26:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:26:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:26:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:26:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.87s (batch: 3.52s, save: 11.35s)	[pipeline.py: 300]
+05/12 06:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:49 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=190.50s, total=190.50s, count=1, min=190496.6ms, max=190496.6ms
+  sensor_polling: mean=445.7ms, total=133.72s, count=300, min=368.9ms, max=955.4ms
+  save_trajectories: mean=11.35s, total=11.35s, count=1, min=11353.5ms, max=11353.5ms
+  physics_step: mean=29.0ms, total=8.71s, count=300, min=19.1ms, max=49.5ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3516.8ms, max=3516.8ms
+  task_sampling: mean=478.8ms, total=478.8ms, count=1, min=478.8ms, max=478.8ms
+  task_specific_sample: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=469.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:26:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:26:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:26:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:26:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:26:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077154m	[env.py: 870]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70582192  0.58537472  0.077154  ] yaw=-196.4deg	[env.py: 1019]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78623366  0.83330982  0.077154  ] yaw=-143.3deg	[env.py: 1019]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80508226  1.10942515  0.077154  ] yaw=-112.3deg	[env.py: 1019]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.7ms, total=308.8ms	[env.py: 1075]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.585, 0.077)	[env.py: 1079]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.4 deg	[env.py: 1082]
+05/12 06:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:26:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:26:51 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:26:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.167s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:26:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.575[m] 84.850[deg]	[grasp_sample.py: 539]
+05/12 06:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:26:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:26:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:26:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:26:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:26:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:26:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:26:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:26:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:26:57 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.167[deg]	[grasp_sample.py: 539]
+05/12 06:26:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:26:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:26:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:09 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:27:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:27:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:27:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:38 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:27:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:27:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:27:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:27:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:27:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.04s (batch: 4.76s, save: 11.28s)	[pipeline.py: 300]
+05/12 06:27:54 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s:
+  episode_total: mean=213.27s, total=213.27s, count=1, min=213269.9ms, max=213269.9ms
+  sensor_polling: mean=476.5ms, total=142.94s, count=300, min=399.3ms, max=906.9ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11281.0ms, max=11281.0ms
+  physics_step: mean=28.9ms, total=8.68s, count=300, min=19.3ms, max=49.2ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4755.2ms, max=4755.2ms
+  task_sampling: mean=535.8ms, total=535.8ms, count=1, min=535.8ms, max=535.8ms
+  task_specific_sample: mean=531.2ms, total=531.2ms, count=1, min=531.2ms, max=531.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=468.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:27:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:27:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:27:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:27:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:27:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:27:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:27:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001849m	[env.py: 870]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:27:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:27:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07843152  1.07036016  0.00184866] yaw=-135.6deg	[env.py: 1019]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82178478  1.00577248  0.00184866] yaw=-155.4deg	[env.py: 1019]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90488359  1.18707704  0.00184866] yaw=-127.3deg	[env.py: 1019]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:27:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.4ms, retries=197.2ms, total=197.5ms	[env.py: 1075]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.070, 0.002)	[env.py: 1079]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.6 deg	[env.py: 1082]
+05/12 06:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:27:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:27:57 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:27:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:27:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:27:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:27:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:27:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:27:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 97.077[deg]	[grasp_sample.py: 539]
+05/12 06:27:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:27:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:27:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:27:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:28:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:28:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:28:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:28:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:28:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:28:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:28:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:28:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.279[deg]	[grasp_sample.py: 539]
+05/12 06:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:28:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:28:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027029m	[env.py: 870]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=378.3ms, total=378.3ms	[env.py: 1105]
+05/12 06:28:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 06:28:19 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 06:28:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:28:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:28:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:28:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:28:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:28:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:28:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059911m	[env.py: 870]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:28:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10236198  1.17805751  0.05991068] yaw=-156.4deg	[env.py: 1019]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93440147  0.7379129   0.05991068] yaw=-140.4deg	[env.py: 1019]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70049469  0.06895832  0.05991068] yaw=172.2deg	[env.py: 1019]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:28:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.102, 1.178, 0.060)	[env.py: 1079]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
+05/12 06:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:28:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:28:21 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:28:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:28:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:28:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:28:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:28:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:28:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 83.822[deg]	[grasp_sample.py: 539]
+05/12 06:28:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:28:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:28:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:28:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:28:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:28:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:29:02 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:29:16 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:29:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:29:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:29:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:29:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 06:29:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:29:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:29:43 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:29:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 06:29:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:29:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:29:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:29:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.65s (batch: 4.20s, save: 11.45s)	[pipeline.py: 300]
+05/12 06:29:45 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.46s:
+  episode_total: mean=199.01s, total=199.01s, count=1, min=199005.2ms, max=199005.2ms
+  sensor_polling: mean=475.6ms, total=142.69s, count=300, min=397.8ms, max=948.2ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11446.0ms, max=11446.0ms
+  physics_step: mean=28.9ms, total=8.66s, count=300, min=21.6ms, max=57.0ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4199.5ms, max=4199.5ms
+  task_sampling: mean=461.8ms, total=461.8ms, count=1, min=461.8ms, max=461.8ms
+  task_specific_sample: mean=457.6ms, total=457.6ms, count=1, min=457.6ms, max=457.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=456.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:29:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:29:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:29:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:29:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:29:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:29:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:29:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042621m	[env.py: 870]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:29:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00953605  0.99955732  0.04262078] yaw=-122.0deg	[env.py: 1019]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95244863  0.30268209  0.04262078] yaw=205.0deg	[env.py: 1019]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8227884   0.46737305  0.04262078] yaw=149.3deg	[env.py: 1019]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:29:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.3ms, total=194.3ms	[env.py: 1075]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.000, 0.043)	[env.py: 1079]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.0 deg	[env.py: 1082]
+05/12 06:29:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:29:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:29:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:29:47 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:29:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:29:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:29:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:29:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:29:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:29:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 91.206[deg]	[grasp_sample.py: 539]
+05/12 06:29:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:29:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:29:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:29:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:29:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:29:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.56s (batch: 3.90s, save: 11.65s)	[pipeline.py: 300]
+05/12 06:29:59 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.66s:
+  episode_total: mean=188.74s, total=188.74s, count=1, min=188740.5ms, max=188740.5ms
+  sensor_polling: mean=433.0ms, total=129.91s, count=300, min=376.4ms, max=949.0ms
+  save_trajectories: mean=11.65s, total=11.65s, count=1, min=11654.6ms, max=11654.6ms
+  physics_step: mean=27.9ms, total=8.38s, count=300, min=21.8ms, max=93.1ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.8ms, max=3901.8ms
+  task_sampling: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  task_specific_sample: mean=658.3ms, total=658.3ms, count=1, min=658.3ms, max=658.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=467.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:30:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:30:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:30:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:30:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:30:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:30:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:30:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099711m	[env.py: 870]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:30:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68831136  0.47757805  0.09971057] yaw=159.9deg	[env.py: 1019]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1284445   1.12952897  0.09971057] yaw=-162.4deg	[env.py: 1019]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:30:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=294.2ms, total=294.3ms	[env.py: 1075]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.478, 0.100)	[env.py: 1079]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
+05/12 06:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:30:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:30:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:30:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:30:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:30:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.451s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:30:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.575[m] 76.156[deg]	[grasp_sample.py: 539]
+05/12 06:30:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:30:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:30:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:30:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:30:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:30:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:30:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:30:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.117[deg]	[grasp_sample.py: 539]
+05/12 06:30:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:30:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:30:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:30:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:30:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:30:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:30:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.080s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:30:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.258[deg]	[grasp_sample.py: 539]
+05/12 06:30:35 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 06:30:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:30:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:30:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:30:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:30:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:30:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:30:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037196m	[env.py: 870]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:30:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93215106  0.56404216  0.03719611] yaw=-153.6deg	[env.py: 1019]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76435464  0.81965028  0.03719611] yaw=-141.8deg	[env.py: 1019]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:30:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=354.3ms, total=354.4ms	[env.py: 1075]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.564, 0.037)	[env.py: 1079]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg	[env.py: 1082]
+05/12 06:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:30:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:30:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:30:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:30:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:30:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:30:39 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 06:30:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.863s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:30:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 81.641[deg]	[grasp_sample.py: 539]
+05/12 06:30:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:30:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:30:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:30:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 06:30:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:30:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:30:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/12 06:31:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 06:31:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 06:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 06:31:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 06:31:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 06:31:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:31:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:31:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:31:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 06:31:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 06:31:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_007	[save_utils.py: 785]
+05/12 06:31:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.90s (batch: 4.51s, save: 13.39s)	[pipeline.py: 300]
+05/12 06:31:26 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.58s:
+  episode_total: mean=209.94s, total=209.94s, count=1, min=209938.6ms, max=209938.6ms
+  sensor_polling: mean=451.6ms, total=135.48s, count=300, min=394.1ms, max=845.1ms
+  save_trajectories: mean=13.39s, total=13.39s, count=1, min=13389.2ms, max=13389.2ms
+  physics_step: mean=26.3ms, total=7.90s, count=300, min=17.1ms, max=43.0ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4513.2ms, max=4513.2ms
+  task_sampling: mean=579.6ms, total=579.6ms, count=1, min=579.6ms, max=579.6ms
+  task_specific_sample: mean=574.2ms, total=574.2ms, count=1, min=574.2ms, max=574.2ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=458.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 06:31:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:31:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 06:31:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 06:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:31:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 06:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 06:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 06:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025174m	[env.py: 870]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 06:31:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94588774  0.26222735  0.02517398] yaw=190.1deg	[env.py: 1019]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70293482  0.09456449  0.02517398] yaw=168.3deg	[env.py: 1019]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7031191   0.580538    0.02517398] yaw=-201.0deg	[env.py: 1019]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 06:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=130.0ms, total=130.1ms	[env.py: 1075]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.262, 0.025)	[env.py: 1079]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.1 deg	[env.py: 1082]
+05/12 06:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 06:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 06:31:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 06:31:28 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 06:31:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 06:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 06:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 06:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 06:31:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 06:31:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 95.385[deg]	[grasp_sample.py: 539]
+05/12 06:31:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 06:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 06:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 06:31:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
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